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).

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)。

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"This is the only conglomerate under the control of the Beijing municipal government so that justifies a premium, but at the current level it's a bit expensive, " says Wilson Yung of Nikko Research Center in Hong Kong.

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