本论文对双臂机器人时间最优轨迹规划问题作了深入研究，成功地运用了动态规划法，对沿着特定路径运动的双臂机器人左、右臂进行了时间最优轨迹规划，从而保证机器人左、右臂在无碰撞的前提下，实现时间最优运动．算法通过了计算机仿真实验，证明算法可行，效率较高 In this dissertation, the optimal trajectory planning of dual-arm robots is studied in depth. The dynamic programming method is successfully applied to optimize the trajectory planning of the left and right arms of the two-arm robots moving along a specific path so that the robots Left and right arms without collision under the premise of optimal time to achieve movement. The algorithm has passed the computer simulation experiment, prove the algorithm is feasible, the efficiency is higher