A formal analysis method and system for conformal geometric algebra-based motion planning of a robot manipulator. The method comprises: determining a specific structural parameter and motion planning parameter of a robot; constructing, on the basis of conformal geometric algebra, a corresponding geometric model with respect to elementary components and motion planning constraints of the robot, wherein the constructed geometric model is described in a higher-order logic language; performing, on the basis of the constructed geometric model, formal modeling of a motion process of the robot, to obtain a logical model of a geometric relation of the motion process of the robot; acquiring a motion-related logical relation corresponding to a constraint or an attribute of a motion process to be verified of the robot; and verifying whether the motion-related logical relation holds true. The present method is employed to perform analysis to improve verification accuracy and reduce computational complexity.
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