宏微机器人轨迹规划离线进行，通过任务放大的方法分解宏微机器人运动学冗余。
Trajectory planning is completed off line and the kinematic redundancy of macro micro manipulator system is resolved by task augment.
基于速度欧拉范数值最小，提出了冗余度tt - VGT机器人轨迹规划的一种方法。
A method for trajectory planning of redundant TT VGT manipulators is presented by minimizing the Eulerian norm of joint velocities.
本文的基于测地线的轨迹规划是以轨迹弧长作为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。
Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.
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