本文提出了一种新的机器人路径规划算法。这一算法是在次序规划算法的基础上,以PUMA型机器人为对象而提出来的。它将把机器人的位姿空间的某些部分变成低维空间来处理,并且在不同维数的多个空间中同时进行搜索路径,这种路径规划算法比原来的次序规划算法的能力有了很大的提高,能在复杂的环境中发现路径。并且这种算法也能解决在高维位姿空间进行路径规划数据量大的问题,本算法通过计算机仿真证明了其正确性和可行性。 In this paper, a new robot path planning algorithm is proposed. This algorithm is based on the order planning algorithm to PUMA robot for the object put forward. It will treat some parts of robot’s pose space as low-dimensional space to deal with, and search paths in multiple spaces of different dimensions at the same time. This path planning algorithm has more capacity than the original order-planning algorithm Great improvement in finding paths in complex environments. And this algorithm can also solve the problem of large data volume of path planning in high dimensional pose space. The algorithm proves its correctness and feasibility through computer simulation.