本文针对机器人最小时间轨迹规划问题提出了一种二次规划的优化方法。

This paper presents a twice planning approach to solving minimum-time trajectory planning problem for robotic manipulators. Pre-planning is performed on the specified path.

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虽然我们并没有下意识地去做，记录时间轨迹却是大脑不可或缺的功能，当我们回想过去时，回忆中感觉和行为也是以时间顺序呈现。

Though we do it without thinking, keeping track of time is integral to the brain's function, keeping our senses and our actions ordered in a chronology that we then recall in the form of memory.

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当这种分离持续一段时间后，这两个种群能够沿着不同的轨迹进化。

When that separation lasts for a period of time, the two populations are able to evolve along different trajectories.

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If that's all it knows, then in that scenario there is no building or anything else; it continues a trajectory both forward in time and backward in time, and it says that whatever seconds, one second before you set your clock to 0, it would've been on the ground.

如果是这样,在那种模式下,没有楼房或者别的什么,物体的运动轨迹可以沿时间可以向后延伸,也可以向前延伸,不管时间取什么值,在零点前一秒时,物体就在地面上

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