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设计出了较为通用的冗余度机器人的最优轨迹规划器。将空间分离法和扩展雅可比矩阵法应用到冗余度机器人的逆运动学求解过程中，得出了较为简便的公式。该规划器回避了雅可比矩阵的伪逆的计算，为冗余度机器人最优轨迹规划的实时应用奠定了基础。仿真结果表明，该规划器是可行的。
Designed a more general redundancy robot optimal trajectory planner. The spatial separation method and the extended Jacobian method are applied to the inverse kinematics of redundant robots. A simple formula is obtained. The planner avoids the calculation of the pseudo inverse of Jacobian matrix, which lays the foundation for the real-time application of optimal trajectory planning of redundant robot. Simulation results show that the planner is feasible.