本文对冗余度机器人操作机伪逆控制重复性的研究进行了系统的分析.讨论了LBC稳定曲面存在及自运动流形的零挠率重复性判据的可行性,澄清了LBC引入稳定曲面作为重复性判据的错误观点,分析了伪逆控制重复性与冗余的矛盾,提出了对于冗余度机器人操作机封闭路径的重复作业,不宜采用伪逆控制,而应选择将冗余度系统降为非冗余系统的逆解算法以消除关节轨迹的漂移. In this paper, the research on the repeatability of pseudo-inverse control of robotic manipulators with redundancy is systematically analyzed.The feasibility of the existence of LBC stable surfaces and the zero-torsional repeatability criterion of self-motional manifolds are discussed, As a repetitive criterion, this paper analyzes the contradiction between repeatability and redundancy of pseudo-inverse control. It is suggested that redundant manipulations should not be used for redundant robot manipulators with closed paths. Instead, The system is reduced to an inverse solution to a non-redundant system to eliminate joint trajectory drift.