This article focuses on the research of multi-degree-of-freedom robot for man-machine cooperation. In order to improve the performance of multi-degree-of-freedom robot in man-machine cooperation scene, this article deeply discusses its inverse kinematics and optimal control model. By combining geometric analysis with intelligent optimization algorithm, the inverse kinematics algorithm model is constructed, and the optimal control model is designed according to the inverse kinematics results and the task requirements and sensor information. It includes task planning, real-time monitoring and feedback adjustment module, and the feedback adjustment adopts adaptive sliding mode control algorithm. After building an experimental platform, typical human-machine cooperation task scenarios such as precision parts assembly, collaborative material handling and complex curve trajectory tracking are set to verify. The results show that the average completion time of this model is 120 seconds, while that of the traditional model is 150 seconds. In terms of positioning error, the model in this article always keeps within 0.1mm in the assembly task of precision parts, and the maximum of the traditional model can reach 0.3 mm. The peak value of human-machine interaction is 5N in the precision parts assembly task, and 8N in the traditional model. Thus, the model proposed in this article has high practical application value.
Donglin Wang (Sun,) studied this question.