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| Research Status and Prospects of External Force Perception and Interaction Control Methods for Collaborative Robots |
| MEI Xuesong 1,2, LIU Xing 1,2, ZHAO Fei 1,2, SUN Zheng 1,2, TAO Tao 1,2 |
| (1. Shaanxi Key Laboratory of Intelligent Robots, Xi’an Jiaotong University, Xi’an 710049, China; 2. School of Mechanical Engineering, Xi’an Jiaotong University, Xi’an 710049, China) |
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Abstract 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.
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2020, 
