Control parameters of original difierential evolution(DE)are kept fixed throughout the entire evolutionary process.However,it is not an easy task to properly set control parameters in DE for difierent optimization problems.According to the relative position of two difierent individual vectors selected to generate a difference vector in the searching place,a self-adapting strategy for the scale factor F of the difference vector is proposed.In terms of the convergence status of the target vector in the current population,a self-adapting crossover probability constant CR strategy is proposed.Therefore,good target vectors have a lower CR while worse target vectors have a large CR.At the same time,the mutation operator is modified to improve the convergence speed.The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator.Finally,the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.