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研究了挖掘机器人如何探测和处置力与几何障碍，阐述了挖掘机器人的避障方法．在事先规划机器人挖掘和运土路径时，不考虑意外出现的障碍物；而在挖掘过程中，模糊局部自主控制器将油缸压力、压力变化和位移信息作为模糊控制规则的输入量，产生处理力障碍的控制信号．在运土过程中，通过构造几何障碍物前的“虚拟阻力区”和采用阻抗控制，实现障碍的自主回避．实验表明所提出的方法是可行的．
Studied how excavating robots detect and dispose of forces and geometric obstacles, and expounded the obstacle avoidance method of excavating robots. In the planning of robot excavation and earth-moving path in advance, do not consider the accidental obstacles; and in the excavation process, the fuzzy local autonomous controller will cylinder pressure, pressure changes and displacement information as the input of fuzzy control rules, resulting in processing power Obstacle control signal. In the process of earth moving, obstacle avoidance is realized by constructing “virtual resistance zone” before geometric obstacle and adopting impedance control. Experiments show that the proposed method is feasible.