机器人的轨迹规划可以在关节空间中进行，也可以在直角坐标空间中进行。

The trajectory planning of robot can be done in joint space coordinate and Cartesian space coordinate.

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本文从直角坐标空间中基本的点到点的规划方法人手，逐步深入到曲线的规划问题和过任意路径点的轨迹规划问题。

This paper start with the basic point to point planning in the right angle space and gradually go deep into the path planning problem of curve planning and arbitrary path point.

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在小目标远场情况下，极坐标格式算法(PFA)能够基本消除MTRC，这种算法需要在空间频域进行从极坐标分布到直角坐标分布的二维插值。

Polar formation algorithm (PFA) can mostly compensate MTRC in the case of small target and distant field, which need the transformation from polar grid to Cartesian lattice.

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