diff --git a/ReadMe.md b/ReadMe.md
index 826688ee..9eadd507 100755
--- a/ReadMe.md
+++ b/ReadMe.md
@@ -402,7 +402,7 @@ __Reminder 4: The <hw_ns> described below is replaced with the actual one, the x
         $ ros2 launch xarm_moveit_config uf850_moveit_gazebo.launch.py
         ```
 - ### 5.9 xarm_moveit_servo
-    This package serves as a demo for jogging xArm with devices such as joystick, through [moveit_servo](http://moveit2_tutorials.picknik.ai/doc/realtime_servo/realtime_servo_tutorial.html). 
+    This package serves as a demo for jogging xArm with devices such as joystick, through [moveit_servo](https://moveit.picknik.ai/main/doc/examples/realtime_servo/realtime_servo_tutorial.html). 
     - Controlling with __XBOX360__ joystick:
         - left stick for X and Y direction.  
         - right stick for ROLL and PITCH adjustment.  
@@ -581,4 +581,4 @@ __Reminder 4: The <hw_ns> described below is replaced with the actual one, the x
       #   uf850: xarm_description/config/kinematics/user/uf850_kinematics_AAA.yaml
       ```
     - Use of Kinematics parameter file: Specify this parameter when starting the launch file
-      - Note that before specifying this parameter, make sure that the corresponding configuration file exists. If it does not exist, you need to connect the robot arm through a script to generate it.
\ No newline at end of file
+      - Note that before specifying this parameter, make sure that the corresponding configuration file exists. If it does not exist, you need to connect the robot arm through a script to generate it.
diff --git a/ReadMe_cn.md b/ReadMe_cn.md
index 970d772b..c7d9d524 100755
--- a/ReadMe_cn.md
+++ b/ReadMe_cn.md
@@ -393,7 +393,7 @@ __注意4: 以下描述的<hw_ns>用实际的替换，xarm系列默认为xarm, 
         ```
 
 - ### 5.9 xarm_moveit_servo
-    此模块用于通过外部输入来控制机械臂, 基于[moveit_servo](http://moveit2_tutorials.picknik.ai/doc/realtime_servo/realtime_servo_tutorial.html)。  
+    此模块用于通过外部输入来控制机械臂, 基于[moveit_servo](https://moveit.picknik.ai/main/doc/examples/realtime_servo/realtime_servo_tutorial.html)。  
     - 通过 __XBOX360__ 手柄控制
         - 左摇杆控制TCP的X和Y
         - 右摇杆控制TCP的ROLL和PITCH
@@ -570,4 +570,4 @@ __注意4: 以下描述的<hw_ns>用实际的替换，xarm系列默认为xarm, 
       #   uf850: xarm_description/config/kinematics/user/uf850_kinematics_AAA.yaml
       ```
     - 参数文件的使用: 在启动launch文件时指定该参数
-      - 注意指定该参数之前要保证对应的配置文件存在，如果不存在，需要先通过脚本连接机械臂生成
\ No newline at end of file
+      - 注意指定该参数之前要保证对应的配置文件存在，如果不存在，需要先通过脚本连接机械臂生成