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研究机器人的协调控制和没有障碍物存在时的轨迹规划，利用冗余空间产生出满足终端运动要求的、性能指标优化的机器人位形，仿真结果证明了文中控制算法的有效性。
The coordination control of the robot and the trajectory planning without obstacles are studied. The redundancy space is used to generate the robot shape with the performance index optimized to meet the requirements of the terminal. The simulation results show the effectiveness of the control algorithm in the paper.