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本文建立了一种结构简单、行之有效的平面运动规则系统，能迅速判断机器人与工件的关系，实现了模具造型机器人无碰撞轨迹规划。
In this paper, a simple and effective planar motion rule system is established, which can quickly determine the relationship between the robot and the workpiece and realize the collision-free trajectory planning of the mold modeling robot.