Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (13): 18-33.DOI: 10.3778/j.issn.1002-8331.2012-0194

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Review of Collaborative Robot and Its Motion Planning Methods

XIE Yinggang, LAN Jiangyu   

  1. Department of Internet of Things, Beijing Information Science and Technology University, Beijing 100101, China
  • Online:2021-07-01 Published:2021-06-29



  1. 北京信息科技大学 物联网系,北京 100101


Collaborative robots are new types of industrial robots that use emerging technologies such as the Internet of Things to perform intelligent human-computer interaction to achieve close collaboration with humans to improve production efficiency. Therefore, collaborative robots have attracted much attention in recent years and become one of the most popular research fields in robotics. Firstly, this paper introduces the basic situation of collaborative robots, including main products, robot body design and application cases. Secondly, common methods of human-robot collaboration are introduced, focusing on the three characteristics of high-efficiency, simplicity, and safety in human-robot collaboration. The research results of collaborative robot programming, safe collaboration methods, and efficient collaboration methods are discussed. Then, the paper summarizes the common robot motion planning methods, which are divided into path planning methods and trajectory planning methods, and analyzes the advantages and disadvantages of each method. Finally, the development direction of collaborative robot research is prospected.

Key words: collaborative robot, IoT perception, human-robot collaboration, human-robot interaction, collaborative safety, motion planning



关键词: 协作机器人, 物联网感知, 人机协作, 人机交互, 协作安全, 运动规划