矿用钻孔机器人加卸钻杆位置会随主机的调姿而变化，同时在加卸钻杆路径中还存在障碍物。因此，钻孔的加卸钻杆过程存在变目标的避障轨迹规划问题。根据防爆六自由度机械手的性能参数建立DH参数表，并提出三自由度主机调姿前后加卸钻杆位置变化的函数关系。利用凸包络体结合简单几何体的包络法建立了加卸钻杆系统的碰撞检测模型，可通过欧氏距离判断是否发生碰撞。提出了三段式的加卸钻杆避障轨迹规划策略，第一段和第三段在笛卡尔空间下采用直线规划，第二段在关节空间下采用多项式插值算法进行规划，并可通过增加过渡点解决避障问题。开展了基于七次多项式插值的最小冲击避障轨迹规划算法研究，由仿真分析可知，关节角度、角速度、角加速度和角加加速度都是连续的，但绝对值峰值很大且路径较长。进一步开展了基于改进双树RRT算法、B样条路径优化及七次多项式插值的冲击优化避障轨迹规划算法研究，由仿真分析可知，不仅可保证关节角度、角速度、角加速度和角加加速度的连续性，且路径较短，角加加速度的绝对值峰值降低了98.2%。通过示教试验验证了冲击优化避障轨迹规划方法在避障、加杆轨迹规划等的可行性，机械手各关节运行曲线及运动路径与仿真结果具有较高的相似度。研究结果可为钻孔机器人加卸钻杆系统控制程序提供借鉴，对钻机智能化提升具有重要意义。

The position of drill pipe loading and unloading by mine drilling robot will change with the attitude adjustment of the host machine, and obstacles are present in the loading and unloading path of drill pipe. Therefore, there is a problem of obstacle-avoidance trajectory planning with variable targets in the loading and unloading of drill pipe. For this reason, the DH parameter table was created according to the performance parameters of the explosion-proof 6-DOF manipulator, and the function relation of the change in loading and unloading position of drill pipe before and after the attitude adjustment of the 3-DOF host machine was proposed. Besides, the collision detection model of the drill pipe loading and unloading system was established using the convex envelope and simple geometry, which could judge the collision by Euclidean distance. Herein, a three-stage obstacle-avoidance trajectory planning method was proposed for the loading and unloading of drill pipe. Specifically, linear planning in Cartesian space is adopted for the first and third stages, the second stage is planned with the polynomial interpolation algorithm in joint space, and the obstacle-avoidance problem can be solved by adding transition points. In addition, study was carried out on the minimum impact obstacle-avoidance trajectory planning algorithm based on the seventh-degree polynomial interpolation. The simulation analysis shows that the joint angle, angular velocity, angular acceleration, and angular jerk are continuous, but the absolute peak value is enormous and the path is long. Thus, further study was conducted on the impact-optimal obstacle-avoidance trajectory planning algorithm based on the improved bidirectional RRT algorithm, B-spline path optimization, and seventh-order polynomial interpolation, which could guarantee the continuity of joint angle, angular velocity, angular acceleration and angular jerk with short path and the peak value of angular jerk reduced by 98.2% according to the simulation analysis. Moreover, teaching test was implemented to verify the feasibility of the impact-optimal obstacle-avoidance trajectory planning method in obstacle avoidance and loading trajectory of drill pipe. The running curves and moving paths of each joint of the manipulator are highly similar to the simulation results. The research results could provide a reference for the control program of the drill pipe loading and unloading system of drilling robot and have important significance for improving the intelligence of drilling rig.