解算法为互补规划 Mix Complementary Program
补充规划 Additional planning
互补凸规划 [数] complementary convex program
规划补缀 scheduled repair ; planned repair
非规划补缀 unscheduled repair
补足点规划 reorder point planning
互补几何规划 complementary geometric programming
规划和补偿法 Planning and Compensation Act
简单补偿随机规划 stochastic programming with simple recourse
首先分析了离线轨迹规划的思路和策略，然后重点讨论了构成轨迹规划的两大核心技术：离线插补计算和速度规划。
Then, focused on off-line interpolation calculation and the speed planning, the linear interpolation, circular interpolation, extended line interpolation and spline interpolation are discussed.
最后，对插补周期内节点的轨迹进行了规划，以确保运动轨迹满足速度、加速度以及加加速度的平滑约束条件。
At last, a trajectory planning strategy was put forward to guarantee the trajectory in the interpolation process meeting the smoothed constraints of velocity, acceleration and jerk.
而相应的插补运算、曲线轨迹规划、伺服控制算法等都由计算机来完成。
And the interpolation arithmetic, curve contrail programming and servo control are done by computer.
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