说明：  三次B样条曲线、一阶二阶三阶导矢曲线。可用于绘制机器人B样条轨迹的位移、速度、加速度、加加速度曲线图
(Cubic B-spline curve, a second-order third-order derivative vector curve. Can be used to draw the trajectory of the robot B-spline displacement, velocity, acceleration, jerk curve)