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通过对冗余度机器人运动学的研究，提出了用分离空间法解决冗余度机器人的最优规划问题。将雅可比矩阵分为基本部分和次要部分，相应地描述机器人运动状态的物理量也分成两部分。在此基础上进行轨迹规划，回避对雅可比矩阵伪逆的直接求解。
Based on the research of kinematics of redundant robot, this paper presents a solution to the optimal programming problem of redundant robot by separating space method. The Jacobian matrix is divided into the basic part and the secondary part. Correspondingly, the physical quantity describing the robot’s motion state is also divided into two parts. Based on this, the trajectory planning is avoided and the direct solution to the pseudo inverse of Jacobian matrix is avoided.