本文研究机器人肢体与周围环境的干涉问题,引入可能干涉区的概念,提出判别干涉的基本原则,推导出一系列形式简单的干涉判别式。使用这一套判别式,干涉对象不仅可以表示为多面体,也可以表示为圆柱体,球体以及它们的任意组合体。 This paper studies the interference of robot limbs with the surrounding environment, introduces the concept of possible interference zones, puts forward the basic principles of discriminating interference and deduces a series of simple discriminative formulas of interference. Using this set of discriminants, the interfering objects can be represented not only as polyhedrons, but also as cylinders, spheres, and any combination thereof.