中文摘要：

轨迹控制策略是人机合作机器人实现人机合作的重要条件。介绍了五杆Cobot的机构及其控制系统,提出了基于速度约束和位置约束的人机合作机器人轨迹控制策略,建立了相应的控制模型。两种控制策略均具有被动和约束的特征,主要区别是产生控制量的方法不同。利用MATLAB对两种控制策略跟踪直线和圆弧轨迹进行了仿真,结果表明,两种控制策略均可实现人机合作的要求,但位置约束控制策略轨迹约束精度更高一些。

英文摘要：

It is very important for trajectory control strategy to implement the cooperation between human and Cobot （col-laborative robot）. The mechanism and control system of five-bar Cobot were introduced. Based on velocity constraint and position constraint,two control strategies of the Cobot were respectively given out,which both have passive and constraint characteristics. The corresponding control model has been constructed and they have different methods of acquiring control value. The simulation of Cobot following a straight line and a section of circle was completed. The results show that the two control strategies are feasible,which meet the requirements of human-robot cooperation. And the position constraint strategy achieves much higher trajectory constraint precision.