说明：  5次多项式插值，用于机器人轨迹规划，是初学者很好的例子，有助于理解机器人的运动表达，及其轨迹规划的概念
(5 times polynomial interpolation, used in robot trajectory planning，Is a good example of the novice, help to understand the movement of the robot, and the concept of trajectory planning)