提出了一种基于传感器和模糊规则的智能机器人运动规划方法 ,该方法运用了基于调和函数分析的人工势能场原理 .采用模糊规则可减少推导势能函数所必须的计算 ,同时给机器人伺服系统发出指令 ,使它能够自动地寻找通向目标的路径 .提出的方法具有简单、快速的特点 ,而且能对n自由度机械手的整个手臂实现避碰 .建立在非线性机器人动力学之上的整个闭环系统和模糊控制器的稳定性由李雅普诺夫原理保证 .仿真结果证明了该方法的有效性 ,通过比较分析显示出文中所提出的避障算法的优越性 . A motion planning method of intelligent robot based on sensor and fuzzy rules is proposed, which uses the principle of artificial potential field based on harmonic function analysis. The fuzzy rule can reduce the calculation necessary for deriving the potential energy function and give a command to the robot servo system So that it can automatically find the path to the target.The proposed method has the characteristics of simple and fast, and it can avoid the collision of the whole arm of n-degree-of-freedom manipulator.The whole closed-loop system based on nonlinear robot dynamics And the stability of the fuzzy controller are guaranteed by Lyapunov principle.The simulation results prove the effectiveness of this method and the superiority of the obstacle avoidance algorithm proposed in this paper is demonstrated through comparative analysis.