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分析了“被动冗余度”空间机器人主、被动关节之间的运动学耦合，得到了可用于运动学规划的耦合指标；分析了“被动冗余度”空间机器人的运动学奇异的问题，以及与对应全主动关节冗余度空间机器人的运动学奇异的区别，得到的新的可操作性指标同样可用于机器人的运动规划；推导出了“被动冗余度”空间机器人的最佳最小二乘运动学优化方程，通过“准自运动”实现被动冗余度空间机器人优化控制；通过对平面3自由度空间站机器人的仿真，证实了分析得到的结论。
The kinematic coupling between the master and the passive joints of “passive redundancy” space robot is analyzed and the coupling index which can be used in kinematics planning is obtained. The problem of kinematic singularity of “passive redundancy” space robot is analyzed, and Compared with the singular difference of kinematics of space robot with full active joint redundancy, the new maneuverability index obtained can also be used in the motion planning of robot. The optimal least squares of “passive redundancy” space robot is deduced. The kinematics optimization equation is used to realize the optimal control of passive redundant space robot through “quasi-self-motion”. The simulation of the plane 3-DOF space station robot confirms the conclusion of the analysis.