对几种主要的机器人运动学冗余分解方法进行了总结 ,指出了每种方法的优点及存在的问题 ;介绍了基于优化的任务扩充方法并讨论了这一方法的关节限制避免问题 ;通过一实际的四自由度平面机器人的仿真 ,比较了梯度投影法和任务扩充的方法 Several main robot kinematic redundancy methods are summarized, the advantages and problems of each method are pointed out, the task expansion method based on optimization is introduced, and the problem of joint restriction of this method is discussed. The simulation of a real four-DOF planar robot compares the gradient projection method with the task expansion method