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为解决冗余自由度机器人的运动学实时控制问题，给出了冗余自由度机器人运动学速度级的解析解。针对机器人系统振动及多性能指标融合控制，提出了＂运动可优化度＂的概念，并引入了运动可优化度函数。仿真和实践结果证明了这一新的控制方案的有效性。
In order to solve the kinematic real-time control problem of a robot with redundant degrees of freedom, an analytical solution to the kinematic velocity of a robot with redundant degrees of freedom is given. Aiming at the robot system vibration and multi-performance index fusion control, the concept of “motion optimization degree” is proposed, and the function of motion optimization degree is introduced. Simulation and practical results demonstrate the effectiveness of this new control scheme.