The kinematic and dynamic optimum problems for redundant variable geometry truss manipulators are investigated in this paper. The equations of inverse dynamics are established under consideration of the optimization of kinematics and dynamics. The contradictory problem between minimum joint velocity norm and minimum joint moment is solved. Thus it can avoid to exceed speed limit for joints in movement

and guarantee that the selfmotion of joints comes to rest when the endeffector of a manipulator moves to end. The simulation calculation of dynamic planning for a four celled tetrahedron variable geometry truss manipulator is performed. The simulation results indicate that the equations of inverse dynamics play a greater role in optimization of joint velocities and joint moments.