一、引言工业自动化程度的提高,对机器人提出了越来越高的要求。最初出现的工业机器人只是用来完成一些搬运物体、喷漆、点焊等简单作业。这类作业采用机器人的点到点或连续路径位置控制便可完成,无需考虑外界环境对机器人的作用。对于有障碍物的环境,采用超声波进行探测,然后进行路径规划,依赖单纯的位置或速度控制便可躲避障碍物。但对于高精度的装配、去毛刺、抛光以及旋曲柄等作业,情况就不同了。这些作业的共同特征是,机器人在完成作 I. INTRODUCTION The improvement of industrial automation has raised higher and higher demands on robots. The first industrial robots just used to do some simple tasks such as handling objects, painting, spot welding. Such operations using robot point-to-point or continuous path position control can be done without regard to the role of the external environment on the robot. For obstructed environments, sonar is used for sounding and path planning, relying on mere location or speed control to avoid obstacles. But for high-precision assembly, deburring, polishing and crank-like operation, the situation is different. The common feature of these jobs is that the robot is doing it