中文摘要：

为提高清洗机器人运行的自主性，提出了针对具有六自由度清洗机器人的自主清洗方法；首先给出了清洗机器人的机械及电气结构，建立了机器人的运动学模型，分析了机器人的运动学及逆运动学问题，实时计算出污物的位置；在此基础上，为实现机器人的自主清洗，接着设计了机器人的控制系统结构，采用了RBF模糊神经网络对机器人进行智能控制；最后通过实验表明所提出的方法能满足清洗机器人精确定位到任意目标位置的要求，其动态性能和稳定性都达到了清洗要求。

英文摘要：

In order to improve the cleaning robot operation, an autonomous cleaning method for cleaning robot which has six degrees of freedom is proposed. Firstly, the mechanical and electrical structure of robot is gived, the model of robot kinematics was established, the ro- bot kinematics and inverse kinematics is analyzed and the robot real--time calculates out the location ozf the dirt. Secondly, a robot control system is designed to realize the robot autonomous cleaning, The main part of the system is RBF fuzzy neural network. Then, The experi- ments show that the proposed method can control the cleaning robot to accurately move to the any target position, and the dynamic perform- ance and stability of the method have reached the cleaning requirement.