多约束条件的轨迹规划与生成技术,摘要如下:Thecorepartderivesaclassofalgorithmsthatgeneratemotiontrajectoriesforroboticssystemson-line,thatis,withinonecontrolcycle(typicallyonemillisecondorless).Suchanalgorithmisexecutedinparalleltolow-levelmotioncontrollers,andsystemsusingitareabletoreactinstantaneouslytou