中文摘要：

提出了基于速度约束的机器人控制策略，该控制策略根据操作者的操作力、机器人轨迹偏差和当前速度，计算出控制量，实现对机器人末端轨迹的虚拟约束控制。对机器人利用该控制策略跟踪直线和圆弧两种轨迹的效果进行了仿真，结果表明该控制策略可以实现人机合作机器人对轨迹虚拟约束控制的要求。

英文摘要：

A control strategy based on velocity constraints was introduced. virtual constraint control of Cobot（collaborative robot） endpoint the control control values according to operation forces of operator, trajectory errors and Cobot endpoint. The simulation of Cobot following a straight line and a completed. The simulation result shows that the control strategy fulfils the In order to implement strategy calculated the current velocity of the section of circle was demands of trajectory virtual constraint control.