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本文运用遗传算法规划凿岩机器人钻孔任务序列，通过判断机器人的多关节钻臂上每一关节其运动方向在彼此相邻的三个钻孔位置上的变化趋势，用数值０表示某一关节运动方向变化趋势在相邻三个钻孔上不一致，数值１表示此关节运动方向变化趋势在相邻三个钻孔上一致．并根据具体的工作情况对描述值进行修正．在此基础上设计了一个基于关节水乎上来规划凿岩机器人随机钻孔孔序的适应度函数，从而使整个钻孔孔序规划算法算法简单，收敛速度快，能寻求到较优的钻孔孔序，其结果能满足实际工作的需要．此方法对于其他类型的关节型机器人的任务和轨迹规划也具有一定的借鉴意义．
In this paper, genetic algorithm is used to program the drilling sequence of rock drilling robots. By judging the trend of the movement direction of each joint on the multi-joint arm of the robot at the three drilling positions adjacent to each other, a certain value of 0 indicates a joint The tendency of movement direction is inconsistent in three adjacent drilling holes. A value of 1 indicates that the trend of the joint movement direction is consistent on the three adjacent drilling holes. And according to the specific work of the description of the value of the amendment. Based on this, a fitness function is designed based on the joint water level, which is used to design the drilling sequence of rock drilling robots, so that the algorithm of drilling sequence planning algorithm is simple and the convergence speed is fast. Pore, the results can meet the needs of practical work. This method also has certain reference for the mission and trajectory planning of other types of articulated robots.