通过B-样条曲线将仅由三维空间中若干点构成的折线轨迹平滑成曲线轨迹，并可视化。可用于机械臂的运动控制规划。-Through the B- spline curve, the curve of the broken line formed by several points in the 3D space is smooth, and can be visualized. Motion control planning for a robot arm.