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分析了在二维机器人工作空间的路线规划中产生的障碍“切角现象”，指出与这一现象有关的因素有时间抽样步长ｈ，机器人的运动速度ｖ和障碍物的形态。在机器人计算机离散控制和路线规划中，为了避免“切角现象”，提出了机器人工作空间的扩展障碍建模技术，定义了两种障碍扩展技术：第一障碍扩展和安全障碍扩展。安全障碍扩展的安全扩展量Ｓｇ由Ｓｇ≥１２ｈｖｍａｘ给出。最后指出这一技术可以应用于在三维空间工作的机械手的工作空间建模。对机器人路径规划和动力学控制的计算机模拟也表明了这一技术的重要性。
The “chamfering phenomenon” in the route planning of two-dimensional robot working space is analyzed. It is pointed out that the factors related to this phenomenon are time sampling step h, robot’s motion speed v and obstacle morphology. In order to avoid the “chamfering phenomenon” in robot computer discrete control and route planning, an extended obstacle modeling technology for robot workspace is proposed and two obstacle extension technologies are defined: the first obstacle expansion and the safety barrier expansion. The safety expansion of the safety barrier Sg is given by Sg ≧ 12hvmax. Finally, it is pointed out that this technique can be applied to the workspace modeling of robots working in 3D space. Computer simulation of robot path planning and dynamics control also demonstrates the importance of this technique.