In chapter 3, in order to obtain a fast algorithm of computing the foot point of a given point to a spiral curve, we study the problem of circular spline fitting.
在第三章，为了得到点到空间曲线距离的快速计算算法，我们研究了利用圆弧样条拟合点集的问题。
Out of Roundness is the variation of the spline from a true circular configuration.
圆度是花键与真圆的圆廓之间的公差。
Then, focused on off-line interpolation calculation and the speed planning, the linear interpolation, circular interpolation, extended line interpolation and spline interpolation are discussed.
首先分析了离线轨迹规划的思路和策略，然后重点讨论了构成轨迹规划的两大核心技术：离线插补计算和速度规划。
Then, focused on off-line interpolation calculation and the speed planning, the linear interpolation, circular interpolation, extended line interpolation and spline interpolation are discussed.
首先分析了离线轨迹规划的思路和策略，然后重点讨论了构成轨迹规划的两大核心技术：离线插补计算和速度规划。
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