Метод формирования оптимальной по времени программной траектории перемещения

In clause the method is stated and offered simple algorithm formations of a program trajectory of movement of the manipulator, optimum on time. It provides moving on the set parametrical curve in the form of function of scalar argument of a "geometrical" trajectory from initial in final position for minimal time at observance of restrictions on size of the articulate forces developed by drives of the robot.