协作机器人及其运动规划方法研究综述

协作机器人是一种新型工业机器人,利用物联网感知等新兴技术进行智能人机交互,实现与人类近距离协同工作以提高生产效率.因此,协作机器人近年来备受关注,成为了机器人领域最热门的研究方向之一.介绍了协作机器人的基本情况,包括主要产品、机器人本体设计以及应用案例;介绍了常见的人机协作方法,重点围绕人机协作中的高效、简单、安全三个...

Review of Collaborative Robot and Its Motion Planning Methods

Collaborative robots are new types of industrial robots that use emerging technologies such as the Internet of Things to perform intelligent human-computer interaction to achieve close collaboration with humans to improve production efficiency. Therefore, collaborative robots have attracted much attention in recent years and become one of the most popular research fields in robotics. Firstly, this paper introduces the basic situation of collaborative robots, including main products, robot body design and application cases. Secondly, common methods of human-robot collaboration are introduced, focusing on the three characteristics of high-efficiency, simplicity, and safety in human-robot collaboration. The research results of collaborative robot programming, safe collaboration methods, and efficient collaboration methods are discussed. Then, the paper summarizes the common robot motion planning methods, which are divided into path planning methods and trajectory planning methods, and analyzes the advantages and disadvantages of each method. Finally, the development direction of collaborative robot research is prospected.