中文摘要：

提出一种基于二次型性能指标优化的方法来规划冗余机械臂的不定目标自运动,该方案能同时考虑关节极限和关节速度极限等物理约束,并通过两种不同方法完备且详细地分析了该二次型性能指标的设计原理.基于PA10机械臂的计算机仿真结果证实了该方案的可行性和有效性.

英文摘要：

A criterion is proposed in the form of a quadratic function for the purpose of self-motion trajectory planning of redundant robot arms with no target-configuration assigned.This self-motion planning scheme can incorporate the avoidance of joint physical limit such as joint limits and joint velocity limits simultaneously.The design principle of the quadratic performance index is investigated and proved via two different methods.Computer-simulation results based on PA10 robot arm substantiate the feasibility and efficacy of this self-motion-planning scheme.