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中文摘要：
探讨冗余机械臂之重复运动规划（Repetitivemotionplan—ning，RMP），对应速度层重复运动规划方案，提出了加速度层重复运动规划方案，并进一步发现和探讨了速度层与加速度层RMP方案的等效性关系．基于神经动力学方法的理论分析和基于PUMA560机械臂的计算机仿真结果均证实了本文所提出的加速度层RMP方案在冗余度解析问题上的有效性，以及速度层和加速度层RMP方案的等效性．
英文摘要：
A repetitive-motion-planning （RMP） scheme at the acceleration-level of redundant robot manipulators is proposed, and its equivalence to the RMP scheme at velocity-level is discov- ered and investigated. Both theoretical analysis neural-dynamic method and computer simulations performed on PUMA 560 robot manipulator demonstrate the efficacy of the proposed acceleration-level RMP scheme, and validate the equivalence of the RMP schemes at two different levels.
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