The distance between the robot and the obstacles need to be calculated and then a collision-free path need to be planned automatically for the robot in constrain environment.Firstly,a pseudo-minimum distance translation meth-od to carry out the collision detection between the obstacle and robot is used in this paper.Secondly, a collision-free path is planned by using the Assumption-Amendment iteration method.Lastly, the simulation is carried on a 3-DOF (degree of freedom) redundant plane manipulator.The result shows that the method is an effective way for robot path planning in constrained environment.%针对机器人在非自由工作环境中的运动问题，需要对机器人与工作空间中的障碍物进行碰撞检测，并规划出无碰撞的运动路径。首先采用了伪最小平移距离作为计算空间几何体之间相对位置的距离函数，并通过伪最小平移距离确定机器人与障碍物嵌入最严重的点，然后采用假设-修正法对机器人运动路径进行重新规划、反复迭代从而生成一条无碰撞的运动轨迹。最后对冗余度为1的平面三自由度机器人碰撞问题进行了轨迹规划的仿真，结果表明该方法对于检测类似机器人手臂等凸体之间的距离及无碰撞路径生成是有效的。
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