中文摘要：

提出一种基于二次型性能指标的方法，用于规划平面冗余机械臂的自运动轨迹．鉴于实际的机械臂都存在关节物理约束，该自运动规划方案考虑了关节极限和关节速度极限的躲避．提出了基于线性变分不等式的原对偶神经网络，并将其作为所对应的二次型规划方案的实时求解器．仿真结果证实了该基于神经网络的自运动规划方案的有效性．

英文摘要：

A method based on quadratic performance index is proposed to plan self-motion trajectories of planar redundant manipulators. As physical joint limits exist in all actual redundant manipulators, avoidance for joint limits and joint velocity limits is taken into account in the presented self-motion-planning scheme. A primal-dual neural network （PDNN） based on linear variational inequalities （LVIs） is introduced as the real-time solver for the resultant quadratic programming scheme. Simulation results verify the validity of the neural-network-based self-motion-planning scheme.