By using the nonlinear programming theory, a optimal impulse satellite evasive trajectory planning model considering earth oblateness perturbation had been established.
利用非线性规划理论建立了脉冲推力能量最省的逃逸轨迹规划模型，并考虑非球形摄动的影响对模型进行了修正。
Then the means of off-line programming are researched deeply and preconcerted trajectory of the robot is realized and demonstrated by examples.
同时深入论述了机器人离线编程的方法以及机器人预定轨迹的实现，并以实例论证了预定轨迹实现。
This paper first describes the research purport and current research level of the off-line programming system for painting robot, and points out the Optimal Trajectory Planning Problems (OTPP).
本文首先介绍了国内外喷漆机器人离线编程系统的研究现状及意义，提出了喷枪最优轨迹规划问题(OTPP)。
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