中文摘要：

针对冗余度机器人末端执行封闭轨迹任务时关节角度漂移问题，提出了一种考虑关节限位的重复性路径规划方法。基于梯度投影法，提出重复运动优化算子，并将其引入到冗余度机器人伪逆运动方程中，实现冗余度机器人无漂移重复运动；通过设计平滑因子，提出了改进的回避关节极限方法，并将该方法融入到机器人重复运动规划方程中，实现了考虑关节限位的重复性路径规划。利用数值仿真实验，与现有的相关方法进行比较。验证了提出算法的正确性和有效性；通过8自由度机器人平台验证了考虑关节限位的重复性路径规划方法的实用性。

英文摘要：

A repetitive motion plan method considering the joint limit was studied to solve the problem of joint angle drift of redundant robots whose end-effector is planed to trace a closed path in the Cartesian space. Firstly, a repetitive motion optimization operator based on the gradient projection was presented, which was introduced into the pseudoinverse kinematics equation to achieve the drift-free repetitive motion of redundant robots. Secondly, an improved resolution for avoiding the joint limit was proposed by designing a continuous scale factor, which was integrated into the plan equation to realize the repetitive path plan considering the joint limit of redundant robots. Finally, the correctness and efficiency of the proposed solution were verified by the simulation results while the practicality of the solution was shown based on the experiment result of an eight-degree-freedom robot.