The general method simplified the bars to the polyhedron,solving the inference for the dynamic task planning in the multi-manipulator system.The algorithm has theoretical basis and practical value.

• 此外,把障碍物简化为一般多面体研究,解决了在多机械手系统中障碍物在机械手运动过程中产生机械干涉的问题,具有一定的科学理论基础和重要实用价值。