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稳定性和终态自运动是动力学优化中的难点．为了解决冗余度机器人动力学优化中的这些困难，深入研究了动力学优化和关节速度间的内在联系和矛盾，提出通过优化关节速度提高动力学优化的综合品质的思想，阐述了在线调节关节速度齐次项，同时改善稳定性和终态自运动的方案．仿真证实所提方案的实用性和有效性．
Stability and end-state self-motion are the challenges in dynamic optimization. In order to solve these difficulties in the dynamics optimization of redundant robots, the intrinsic relations and contradictions between dynamics optimization and joint velocity are studied in depth. The idea of improving the comprehensive quality of dynamics optimization by optimizing joint velocities is proposed. Homogeneous speed, while improving stability and final self-campaign program. The simulation proves the practicality and effectiveness of the proposed solution.