It is derived that fifth order displacement equation is the smoothest path, for which the criterion is minimum-jerk control.
研究出的五阶轨迹规划算法在保证运动轨迹平滑的前提下，实现了在各种约束条件下时间最小。
The inflexion is the second differential of the speed curve and the physical meaning is the same to the jerk, so the jerk is introduced into the control model of anti-skid system.
拐点是制动曲线的三阶导数，它的物理意义和冲动不谋而合，这也是本文在防滑器控制模型中引入冲动物理量的原因之一。
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