中文摘要：

为解决冗余度机器人手臂在运动过程中出现的关节角偏差问题,探讨与分析了一种基于新型性能指标的二次型优化模型,以使机械臂的关节能实现重复运动.在考虑各种关节物理极限（如关节角度极限和关节速度极限）的情况下,该模型最终被转化为一个标准的二次型优化问题来求解.同时,基于负梯度法的原理分析和基于PUMA560的平面四连杆机械臂的计算机仿真结果表明,该方案具有可行性和有效性.

英文摘要：

To remedy the joint-angle-drift phenomenon,a quadratic programming（QP） scheme based on a new performance index was investigated and analyzed for repetitive motion planning of redundant manipulators.When considering joint physical limits（such as,joint variable limits and joint velocity limits）,such a scheme could be reformulated as a standard QP problem.Theoretical analysis based on the negative gradient method and computer-simulation results based on PUMA560 and four-link planar robot manipulators have substantiated the feasibility and efficiency of the presented QP scheme.