机器人无碰轨迹规划研究

提出了一种机器人轨迹规划的新算法，该算法模拟了人在障碍环境中寻找目标点的思维特征和行为方式，思路简捷，易于编程，求解速度快，对环境适应性强，同时还完成了相应轨迹规划应用软件，能够自动规划无碰轨迹，并绘制无碰位姿的机构仿真简图。

STUDY ON ROBOT NON-COLLISION TRACK PLANNING

A new method of calculating the robot track planning is presented. This method simulates the feature of thinking and the mode of action for human being seeking target in a surrounding of obstacles. and is characterized by the forthright train of thought. the simplicity of programming, the quick solution finding and the high adaptation to environment. Simultaneously. the corresponding applied software for track planning has accomplished, which is able to program the non-collision track automaticallyand to draw a simplified mechanism emulation diagramof the position and attitude of non-collision.