研究了具有多个被动关节的欠驱动冗余机器人的运动优化控制问题。基于滑模变结构控制方法 ,首先实现了被动关节位置控制 ;进一步利用“虚拟模型引导控制”方法实现了欠驱动冗余度机器人的连续轨迹运动优化控制 ;通过平面三连杆机器人臂进行了避障运动仿真 ,仿真结果证明了提出的方法的有效性 The problem of motion optimization control of under-driven redundant robots with multiple passive joints is studied. Based on the sliding mode variable structure control method, the passive joint position control is realized firstly. The “trajectory control of virtual model” is further used to realize the continuous trajectory optimization control of underactuated redundant robot. The planar three-link robot arm is used to avoid Barrier motion simulation, the simulation results prove the effectiveness of the proposed method