Sequential quadratic programming ( sqp ) method is developed to schedule the time intervals between each pair of adjacent knots such that the total traveling time is minimized subject to the physical constraints on joint velocities , accelerations , and jerk . algorithm comparison of flexible polyhedron and sqp is done to show the good quality of sqp 在速度、加速度、加速度變化率的約束條件下,使用二次規劃法獲得了運動總時間最短時的關節軌跡,將所用算法與現有算法對比表明了所用算法的優化性。