In the paper, the redundancy is used to decrease residual vibration of flexible link robot through optimal self motion, and the method is proved to be efficient by computer simulation.

本文将冗余自由度用于消减柔性杆机器人的残余振动，通过优化选择最优的自身运动以达到减振目的，模拟结果表明，这一方法可以取得很好的效果。

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Then we do another experiment on self-motion of the redundant robot arm in order to testify the above presented control method.

其次，基于冗余手臂的自运动，对冗余度手臂控制系统进行了控制方法的实验研究。

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In the parametric design, motion of the swing leg of biped robot is planned into a parabola to keep self balance in lateral plane and avoid coupling error;

通过对迈步腿质心进行抛物线运动规划，使两足机器人在动态步行时达到侧向自平衡，从而消除了前向和侧向模型的偶合误差；

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