It is solved how to determine the movement of all kinematic pairs, according to the principle of least energy, when a command is given to make a terminal of a robot move a large distance.

• 在对智能机器人进行现场控制过程中，当大距离移动指令给出以后，依据能量损失最小的原则，确定各运动副处的运动，本论文做了第一次探索。