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现代制造业要求机器人不仅能够实现常规的ＰＴＰ运动和简单的ＣＰ运动，而且还能够沿着任意特定路径进行高速运动．为此，对沿着特定路径运动的机器人的时间最优轨迹规划问题作深入研究，成功地运用了三次Ｂ样条对由一系列离散路径点组成的机器人特定路径进行了逼近，并利用动态规划方法，沿着逼近所得的机器人路径，对机器人进行了时间最优轨迹规划，从而保证机器人在不偏离原有路径的基础上，实现时间最优运动．通过计算机仿真实验，证明算法可行，效率较高．
Modern manufacturing requires robots not only to achieve regular PTP motions and simple CP motions, but also to move at high speeds along any particular path. For this reason, the optimal trajectory planning problem of robots moving along a specific path is studied in depth. Three cubic B-splines are successfully used to approximate a robot-specific path composed of a series of discrete path points, and the dynamic programming Method, along the robot path approximation, the robot optimal trajectory planning, to ensure that the robot without departure from the original path, based on the optimal time to achieve movement. Through computer simulation, it is proved that the algorithm is feasible and efficient.