本文提出了如何通过运动可行性检测和自动绕过机械干涉区来提高机器人自动化控制程度和控制质量的策略和算法。首先从二维和三维机械干涉问题入手,提出了各种可能的解法并作了相互比较,然后将其推广到任意维数。最后提出了处理N维机械千涉的两种可行的方法,给出了算法框图。 This paper proposes strategies and algorithms for how to improve the degree of robot automation control and quality control through the detection of motion feasibility and automatically bypassing the mechanical interference zone. First of all, starting from the two-dimensional and three-dimensional mechanical interference problems, various possible solutions are proposed and compared with each other, and then extended to any dimension. Finally, two feasible methods to deal with N-dimensional mechanical interference are proposed, and the algorithm block diagram is given.