<div>一种预判插补时间的S形加减速插补算法</div>

唐小琦1, 何王勇1, 2, 李勇波2

An Algorithm of S-shape Acceleration and Deceleration Based on Anticipation Interpolation Time

TANG Xiao-Qi-1, HE Wang-Yong-1, 2, LI Yong-Bei-2

中国机械工程 . 2011, (23): 2794 -2797,2801 .