中文摘要：

合作机器人（cobot）是与人在同一作业空间内直接进行物理合作的机器人。为了实现cobot直接与人合作作业,根据cobot的特点,建立了不完全约束关节机构的模型和cobot的控制模型,提出了cobot的控制策略。建立了控制策略的仿真模型,对cobot跟踪给定直线和圆弧进行了仿真研究。研究结果表明：这种控制策略是可行的,它能在人机合作的条件下使cobot跟踪期望轨迹。当操作力为0时,cobot静止不动,因此不会因为机器人失控而伤害操作者,满足了人机合作的要求。这种控制策略可以应用在外科手术、物料搬运和零件装配的合作机器人中。

英文摘要：

Cobots are robots intended for direct physical collaboration with a human operator in a shared workspace. In order to implement cobots direct cooperation with human, according to the features of cobots, the model of a non-holonomic constraint joint mecha- nism and its control model were constructed, and a control strategy was put forward. The simulation model of cobot control strategy was built up, and the simulation research on cobot following a straight line and a circle was carried out. The simulation curves were given. The simulation results illustrate that the control strategy is feasible, and it can make cobot track a desired trajectory in man-machine cooperation situations; when operation force is null, cobot is standstill, so the operator can＇t be injured when cobot is out of control. It can meet the requirements of human collaboration with robots. The control strategy can be applied in applications for cobots of surgery operation, material moving and parts assembly and so on.