Smoothing algorithm is integrated into dynamic trajectory programming.
航迹规划算法改进。
Then, the idea of(multiphase) trajectory programming and features in each phase are introduced. And a set of homing project for different conditions is brought forward.
对于分段规划法，详细介绍了其设计的思想和各阶段的特点，并根据不同的情况提出了一整套的归航方案。
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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