The dual arm robot collision free motion planning is regarded as searching a set of data in the CSDB. With this method, an optimum trajectory would be found.

在本算法中，双臂机器人无碰撞运动规划问题被归结为对从臂无碰撞状态数据库的搜索。

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So maneuver reentry trajectory design problem was transferred into the more complex optimum control problem with terminal constraints and inner state constraints.

这就增加了内点约束，从而使机动再入弹道设计问题成为具有内点约束和终端约束更复杂的最优控制问题。

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The inverse dynamic method of manipulator and the Linear Quadrics (LQ) optimum control method are employed to investigate the problems of trajectory tracking and eliminating the remaining vibration.

利用机械臂逆动力学方法和线性二次型（LQ）最优控制方法讨论刚柔性耦合机械臂的轨迹跟踪控制问题和消除残余振动的控制问题。

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This time, the timing can't slip even by a few seconds, because then the SpaceX vehicle would end up in a less than optimum trajectory and lack essential fuel reserves to be able to catch up and dock with the space station.

WSJ: SpaceX's Pioneering Flight Plans