【摘要】 设计出了较为通用的冗余度机器人的最优轨迹规划器。将空间分离法和扩展雅可比矩阵法应用到冗余度机器人的逆运动学求解过程中，得出了较为简便的公式。该规划器回避了雅可比矩阵的伪逆的计算，为冗余度机器人最优轨迹规划的实时应用奠定了基础。仿真结果表明，该规划器是可行的。更多还原

【Abstract】 This paper presents a generator for finding an optimal bath of a redundant robot. The sauce separation method and the extended Jacobian matrix method are used to solve the inverse kinematics, and the simple equation is obtained. This generator can avoid meeting the pseudoinverse computation of the Jacobian matrix of the redundant robot. This advantage lays a foundation for real-time optimal bath planning. The simulation result shows that the generator is available.更多还原