Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于的轨迹规划是以轨迹弧长作为参考变量的，还具有非时间参考的机器人轨迹规划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容器缠绕型主要有两种类型：沿稳定的螺旋缠绕和类似正弦外包罗铺放。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的轨迹规划是以轨迹弧长考变量的，因此它还具有非时间考的机器人轨迹规划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容器缠线型主要有两种型：沿稳定测地线的螺旋缠似正弦外包罗铺放。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文基于测地线轨迹规划是以轨迹弧长作为变量，因此它还具有非时间机器人轨迹规划优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容器缠绕线型主有种类型：沿稳定测地线螺旋缠绕和类似正弦外包罗铺放。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的轨迹规划是以轨迹弧长作为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容器缠绕线型主要有两种类型：沿稳定测地线的螺旋缠绕和类似正弦外包罗铺放。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的轨迹规划是以轨迹弧长考变量的，因此它还具有非时间考的机器人轨迹规划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容器缠线型主要有两种型：沿稳定测地线的螺旋缠似正弦外包罗铺放。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的轨迹规划是以轨迹弧参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容器缠绕线型主要有两种型：沿稳定测地线的螺旋缠绕正弦外包罗铺放。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的轨迹规划是以轨迹为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容器缠绕线型主要有两种型：沿稳定测地线的螺旋缠绕和弦外包罗铺放。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于测地线的划是以弧长作为参考变量的，因此它还具有非时间参考的机人划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容线型主要有两种类型：沿稳定测地线的螺旋和类似正弦外包罗铺放。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的地线的轨迹规划是以轨迹弧长作为参考变量的，因此它还具有非时间参考的机器人轨迹规划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容器缠绕线型主要有两种类型：沿稳定地线的螺旋缠绕和类似正弦外包罗铺放。

Because arc length of trajectory is regarded as the variant in geodesics based method, it possesses the advantages of non-time based trajectory planning at the same time.

本文的基于线的轨迹规划是以轨迹弧长作为参考变量的，因具有非时间参考的机器人轨迹规划的优点。

Firstly, there are two types of winding patterns for toroidal vessel: spiral winding along toroidal vessel geodesics and analogous sine placement along the external surface of toroidal vessel.

先，环形容器缠绕线型主要有两种类型：沿稳线的螺旋缠绕和类似正弦外包罗铺放。