协作机器人外力感知与交互控制研究现状及展望

Research Status and Prospects of External Force Perception and Interaction Control Methods for Collaborative Robots

协作机器人指的是一种能够在共享工作空间中实现物理人–机器人交互并执行协作任务的机器人系统。协作机器人正逐渐融入人类社会,与人类、其他机器人或非结构化环境等进行密切和复杂的交互。机器人–环境物理交互过程,外力感知和交互控制对于保证其安全性并提高其交互性能具有非常重要的意义。分别从外力感知、协作控制以及认知控制3个方面对协作机器人的研究现状进行综述,并对协作机器人感知与控制领域的研究进行展望。

Collaborative robot(cobot)is a kind of robot system which can realize physical human-robot interaction and perform cooperative tasks in shared workspace.Collaborative robots are gradually integrated into human society,and interact with human beings,other robots or unstructured environment closely and complicatedly.For the physical robot-environment interaction process,external force perception and interaction control are very important to ensure its safety and improve its interaction performance.In this paper,the research status of collaborative robot is summarized from three aspects:external force perception,collaborative control and cognitive control,and the research prospect of collaborative robot perception and control is also discussed.