最后，应用近似化方法和黎曼度量方法，研究了机器人最优轨迹规划的问题。
In the end, the problem of robot trajectory planning is investigated by the linearization method and Riemannian metric.
它为工业机器人在非线性运动学约束条件下的时间最优轨迹规划及控制问题提供了一种较好的解决方案。
It provides a better solution to the problem of industrial robot's time optimal trajectory planning and control under the nonlinear kinematical constraints.
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)。
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).
路径规划问题一般是指在一定约束条件下，寻找从给定起始点到给定目标点之前满足某种性能指标最优的路径轨迹。
Path planning is to find a trajectory from the initial point to the target point which satisfies a certain performance optimal index under some constraints.
本文提出了基于机械臂关节驱动力矩约束方程规划其关节最优运动轨迹的一种有效方法。
In this paper, an efficient method of joint trajectory planning for industrial manipulator is developed, having considered the dynamic constraint of the system.
基于最优载荷分配，针对双臂机器人协调运动的关节轨迹规划进行研究。
Based on the minimal load distribution, the joint trajectory planning was researched for coordinate motion of dual-arm robot in this paper.
在毋需获知最优机动轨迹规划的情况下，可用于卫星任意时刻的姿态捕获和机动控制。
This method would be applied for the attitude capture and maneuvers control of the satellite at any time when the optimum maneuver trajectory was unknown.
本文将非线性不等式约束下的非线性数学规划理论引入到水平井待钻井眼轨迹设计中，提出了水平井待钻井眼轨迹的最优化设计方法。
The paper introduces the nonlinear programming method under nonlinear constraints to well trajectory design while drilling and puts forward an optimization method for well trajectory design.
本文将非线性不等式约束下的非线性数学规划理论引入到水平井待钻井眼轨迹设计中，提出了水平井待钻井眼轨迹的最优化设计方法。
The paper introduces the nonlinear programming method under nonlinear constraints to well trajectory design while drilling and puts forward an optimization method for well trajectory design.
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