Three kinds of trajectory optimization methods including Indirect method, Hybrid method and Gauss pseudospectral method, as well as solving thoughts were given in this paper.
本文给出三种求解轨道优化设计问题的方法（间接法、混合法和高斯伪谱方法）及求解思路。
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The generation and detection of given trajectory of a planar five-bar hybrid driven mechanism was investigated.