Initialization method for motion planning of acceleration derivative layer of redundant manipulator

The invention discloses an initialization method for motion planning of an acceleration derivative layer of a redundant manipulator. The initialization method comprises the following steps: starting a manipulator controller, and reading the current angle of each joint of the manipulator through an encoder; taking the current angle of each joint as an initial value; using the joint angle when the manipulator executes a motion planning task as an expected value; based on the initial value and the expected value, establishing a quadratic form optimization scheme on the acceleration derivative layer; converting the quadratic form optimization scheme into a piecewise linear projection equation, and solving the piecewise linear projection equation by adopting a numerical algorithm to obtain an optimal solution; and driving all joints of the manipulator by the manipulator controller according to the optimal solution, so that the joints are adjusted from the current position to the position where the manipulator exec