本言对所研究的轨迹规划采用两次插补，第一次插补主要是保证轨迹的准确性，其运动速度曲线为梯形曲线，只适合机器人低速运动的情况。
These trajectories are interpolated twice. The first interpolation mainly assures the accuracy of trajectory. Its velocity is trapezium, which only fits the deceleration motion.
本言对所研究的轨迹规划采用两次插补，第一次插补主要是保证轨迹的准确性，其运动速度曲线为梯形曲线，只适合机器人低速运动的情况。
These trajectories are interpolated twice. The first interpolation mainly assures the accuracy of trajectory. Its velocity is trapezium, which only fits the deceleration motion.
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