In process of the trajectory planning depending on robot " s kinematics , we propone a method which can get middle nodal point with normalizing factor in order to simplify our process , in addition , includes actual physics signification 在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予它们实际的物理含义。
