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摘要:
随着机器人逐渐应用于生产生活的各个领域，安全性也成为了机器人研究的重要方向之一。根据安全性研究目标对象的不同，分别从机器人自身安全性和交互安全性两方面概述了国内外研究现状，分析了机械结构与控制算法对提高机器人安全性所起到的作用。在此基础上，分析了目前研究还存在结构设计过于传统、对突发情况判断能力较弱、复杂条件下控制柔顺性不足等问题，限制了机器人的推广应用。指出了机器人安全性的研究正向着刚柔混合一体化机构、准确快速的环境判断、良好的柔顺控制的方向发展。
Abstract:With the robot gradually used in many fields of production and life, safety has become one of the important research directions of robot. According to different research objects for robot safety, research status of robot safety at home and abroad is expounded from two parts, namely self-safety and interaction safety. The role of mechanical structure design and control algorithms in improving robot safety is analyzed. On this basis, the existing problems, such as too traditional structure design method, weak judgment of unexpected situation and lack of control compliance under complicated conditions, are analyzed, which limit the popularization and application of robots. The development trend of robot safety, such as rigid flexible hybrid mechanism, accurate and fast environment judgment and good compliance control, is proposed.
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Key words:
- robot safety /
- self-safety /
- interaction safety /
- structure design /
- compliance control
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图 8 基于安全性的上肢外骨骼机构设计
Figure 8. Mechanism design of upper-limb exoskeleton based on safety
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