中文摘要：

为了解决平面冗余自由度机器人的运动优化问题，提出一种自寻优方法。引入“臂角”参数，建立了平面4自由度机器人逆运动学的封闭解形式；针对机器人运动过程中远离关节极限的优化任务，提出一种自寻优方法，将4自由度机器人等效为四连杆机构，将优化目标转化为虚拟转矩作用于关节上，机器人将在虚拟力作用下向着平衡状态运动，最终实现机器人的运动优化。采用自寻优方法对机器人单点位姿及轨迹跟踪进行了运动仿真，结果表明：自寻优方法可以快速、有效地实现机器人的运动优化。

英文摘要：

In order to solve the problem of kinematic optimization of planar redundant robots, the self-optimizing method is proposed in this paper.First, the “arm angle”parameter is introduced and closed-form solutions to in-verse kinematics of the 4-DOF （ degree of freedom） planar robot are established.Next, for the avoidance of joint limits during motions, a self-optimizing method is developed.The 4-DOF robot is equivalent to a four-bar linkage and the optimized target is transformed into the virtual torque acting on joints.The robot moves toward its equilibri-um under the action of virtual torque and kinematic optimization of the robot is eventually realized.Finally, the self-optimizing method is applied to perform kinematic simulation for the single-point gesture and trajectory tracking.The simulation results showed that the kinematic optimization of the robot may be realized quickly and effectively by the self-optimizing method.