lastly, the minimum time trajectory planning for two manipulator with specified path is investigated . . a algorithm of mttp using phase-plane techniques is presented, which is based on parameterized dynamics equations 最后,研究沿指定路径双臂机器人的最小时间轨迹规划(mtt),基于路径参数描述的动力学方程,运用相平面技巧,介绍了一种mllp算法。