直线插补采用梯形曲线模式，圆弧插补采用李沙育图形原理。
The line interpolation adopts trapezium mode, and the arc interpolation adopts the principle of Lissajous Pattern.
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.
每隔两层，每幢建筑曲线梯形的两条不相等的短边就会改变其几何形状。
The two unequal shorter sides of the curvilinear trapezoid of each building change their geometry every two floors.
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