基于敏感皮肤的机器人运动规划方法研究-机械电子工程专业论文.docx

Classified Index：TH823.3 U. D. C：681.586.5 Dissertation for the Doctoral Degree in Engineering RESEARCH ON THE MOTION PLANNING FOR ROBOTS BASED ON THE SENSITIVE SKIN Academic Degree Applied for: g Shuguo Yili Candidate:Jin BaoSupervisor: Candidate: Jin Bao Supervisor: Prof. Wan Associate Supervisor: Prof. Fu Specialty: Mechatro Affiliation: School of Date of Defence: Oct., 20 Degree-Conferring-Institution: Harbin In nics Engineering Mechatronics Engineering 06 stitute of Technology 摘要 摘要 - - I - 摘要 智能化是机器人科学研究主要发展方向之一。机器人的智能主要体现在 未知障碍环境中自主工作，这是在空间探索以及危险环境作业机器人必须解 决的理论与技术。当前应用的多关节机器人由于缺乏对周围环