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本文以反铲作业为对象，研究了采掘机器人的任务规划、路径规划和轨迹规划．在自行设计研制的一台试验样机上实现了整个作业循环过程、预设路径和力监控挖掘过程的局部自主式规划级控制，并开发了一个三维动态仿真软件作为检验规划级控制理论的辅助手段．
In this paper, backhoe work as the object, the study of the mining robot mission planning, path planning and trajectory planning. A self-designed planning-level control prototype is developed on a test prototype designed by ourselves. Local autonomic planning-level control of the whole operation cycle, preset route and force monitoring and excavation process is also developed. A 3D dynamic simulation software is developed as an aid to test planning-level control theory .