First, it translates time to axis-distance and applies Prim algorithm to create MSP, then solves this problem with denoted by two-fork tree and over-experience algorithm.

• 时间目标MSP是以机械手抓取处方的最短时间为优化目标的，首先将时间转化为轴向距离，应用Prim算法求出该问题的最小生成树（MST），然后经过二叉树表示及遍历算法对该问题进行求解；