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将机器人与障碍接触视为封闭链机构，用超复数分析该封闭链，以两自由度转动关节臂为例，建立了关节空间障碍的边界方程。该方法能简洁地表达关节空间障碍，并具有较高的计算效率。
The contact between the robot and the obstacle is regarded as a closed-chain mechanism. The super complex number is used to analyze the closed chain. Taking the two-degree-of-freedom articulated arm as an example, the boundary equation of the joint space obstacle is established. The method can express the space obstacle of articulation succinctly, and has higher computational efficiency.