摘要
本文建立了一种结构简单、行之有效的平面运动规则系统，能迅速判断机器人与工件的关系，实现了模具造型机器人无碰撞轨迹规划。
A efficient planar motion rule system which has simple structure is presented. By these rules, the relationship between the robots and workpieces could be judged rapidly and the manipulator collisionless trajectory planning for modeling dies is carried out.
