Smooth trajectory planning and implementation method with fixed running time and running distance

The invention discloses a smooth trajectory planning and realizing method with fixed running time and running distance, which is characterized by comprising the following steps of: firstly, designing a polynomial displacement equation comprising a target position, target running time, an initial position and undetermined parameters, and enabling the polynomial displacement equation to stably reach the target position at a fixed time point; displacement, speed, acceleration and jerk are smooth and continuous; then, under the limitation of the maximum speed, the maximum acceleration and the maximum jerk, the shortest running time at the given target position is obtained and compared with the given running time, and according to the comparison result, the feasibility of designed trajectory planning is judged or modification suggestions are provided; finally, friendly user software is designed, the software can automatically judge the feasibility of trajectory planning under the given condition, if the trajectory