中文摘要：

工业机器人路径规划之后，采用B样条曲线对得到的无碰撞离散路径进行拟合得到一条连续、光滑运动路径。路径规划与曲线拟合问题的性能指标分别为路径与障碍物的距离和曲线的光滑度，两者之间可能存在矛盾。设计了一个模糊控制器，对该问题的数学模型进行改进，以期望性能指标作为输入，路径移动距离作为输出，通过调整路径的移动距离和方向，对这两个问题的优化过程进行控制，从而得到可行解。仿真结果验证了该方法的正确性。算法具有一定的通用性，同样适用于解决其他存在矛盾的综合优化问题。

英文摘要：

B-spline curve is used to fit a collision free sequence into a continuous smooth path after path planning of manipulator. The performance criteria of path planning and curve fitting are the distance between path and obstacles and the smoothness of the curve respectively. They may contradict with each other. A fuzzy controller is designed to improve the mathematical model with expectation performance criteria as its input and path moving distance as its output to adjust moving distance and direction of the path and control the optimization processes of the two problems to find the acceptable solution. Simulation results show the correctness of this method. It is a common method, and is equally applicable to other problems which contradict with each other.