Resolution of the feasible motions of manipulators at singular configurations and accurately tracking the specified trajectory is one of the important technical problems in robotics.

机器人通过奇异位形时的可行运动求解及如何准确地跟踪和实现给定的运动轨迹是机器人技术中急待解决的关键技术问题。

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This paper presents a twice planning approach to solving minimum-time trajectory planning problem for robotic manipulators. Pre-planning is performed on the specified path.

本文针对机器人最小时间轨迹规划问题提出了一种二次规划的优化方法。

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The required lateral maneuver trajectory on equilibrium glide assumption is specified according to the designed angles of attack and bank.

根据所设计的攻角和倾侧角，即可实现平衡滑翔情况下预定机动模式的侧向机动。

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