中文摘要：

针对移动机械手的动态不均匀性及运动冗余性，参考人类完成任务时的行为，提出了一种分级协调路径规划法，以及一种动态加权的优化策略，对移动机械手的路径进行离线规划，在避障的前提下保证了移动机械手性能指标最优。在VC＋＋下通过OpenGL进行了仿真，取得了令人满意的结果。

英文摘要：

Aiming at the dynamic nonhomogeneity and kinematic redundancy and making reference to the actions of human beings, a new hierarchical approach of coordinated path planning for mobile manipulators and a dynamic weighting strategy were proposed, which could avoid obstacles and get the best results of optimization. At last, simulation was made by OpenGL in VC＋＋ and satisfactory results were got.