For the redundant robot

the joint trajectory optimization was discussed. On the basis of the velocity manipulability ellipsoid and the directional manipulability measure of the redundant robot

the velocity directional manipulability measures of the redundant robot was defined. Taking the velocity directional manipulability measure as the performance index

the new method of joint trajectory optimization of the redundant robot was presented. According to the result of the pseudo-inverse trajectory optimization the result of this paper showed that the taking times to reach the greatest of the velocity directional manipulability measures was decreased

the velocity transmission characteristics was improved in the special direction.