Then , the minimum - time trajectory planning ( mttp ) for single manipulator is investigated . mttp with dynamic model constrains is presented in detail . then a algorithm of dynamic searching time - optimal trajectory based on phase - plane techniques is proposed and simulated 其次,研究了沿指定路徑單臂最優(yōu)時間軌跡規(guī)劃,先詳細(xì)介紹考慮動力學(xué)模型的最小時間軌跡精確解法,然后提出了一種基于相平面動態(tài)搜索時間近似最優(yōu)軌跡的方法,并將該算法進(jìn)行了仿真實驗。