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给出了一种考虑关节速度极限的柔性冗余度机器人动力学算法，不仅可以使机器人臂的振动得到良好抑制，同时改善关节力矩的分配，而且能保证关节角不超过极限值，实现了运动学和动力学优化的同时进行．仿真结果证明了算法的合理性及有效性
A flexible redundant robot dynamics algorithm considering the limit of joint velocity is given, which can not only restrain the vibration of the robot arm well, but also improve the distribution of joint torque and ensure that the joint angle does not exceed the limit and achieve the movement Learning and kinetics are optimized simultaneously. Simulation results show that the algorithm is reasonable and effective