为了解决冗余度机器人全局法优化中数值求解的困难，本文讨论了动力学方程的建立、无约束和有约束最优控制问题之间的内在联系，重点分析了求解最优控制问题的数值方法．文中提出双向异步积分迭代求解正则方程组的直接迭代法，较好解决了状态方程和协态方程稳定性相逆给求解两点边值问题带来的困难． In order to solve the difficulty of numerical solution in global optimization of redundant robots, this paper discusses the relationship between the establishment of dynamical equations, the unconstrained and constrained optimal control problems, and analyzes the numerical methods for solving optimal control problems . In this paper, we propose a direct iterative method to solve the two-point boundary value problem by bidirectional asynchronous integral iteratively solving the canonical equations, and solve the problem that the state equations and the covariance equations have opposite phase stability.