摘要
人机协作技术是智能制造系统实现高效、柔性、安全生产的关键使能技术。本文系统综述了2019—2024年智能制造系统中人机协作技术的研究进展。首先，阐述了人机协作技术发展的时代背景与战略意义，分析了从工业4.0到工业5.0演进过程中人机关系从人机共存、人机交互、人机合作向人机协作乃至人机共生的深刻转变。其次，重点综述了协作机器人智能控制、人机安全交互、人因工程与智能任务分配、数字孪生与增强现实辅助等核心技术的研究现状，深入探讨了力控制、视觉伺服、碰撞检测、互认知交互及远程协作等关键技术的实现原理与应用进展。进一步，分析了数字孪生技术在人机协作虚实映射与协同优化中的作用，以及增强现实技术在提升操作工人认知能力和协作效率方面的应用价值。最后，从认知制造、智能预见协作及危险环境远程协作等前沿方向展望了人机协作技术的未来发展趋势。本文旨在为智能制造系统中人机协作技术的深入研究及工程应用提供理论参考。
关键词： 人机协作；智能制造；协作机器人；安全交互；数字孪生；增强现实；人因工程
Abstract
Human-machine collaboration technology is a key enabling technology for achieving efficient, flexible, and safe production in intelligent manufacturing systems. This paper systematically reviews the research progress of human-machine collaboration technology in intelligent manufacturing systems from 2019 to 2024. First, it elucidates the historical context and strategic significance of the development of human-machine collaboration technology, analyzing the profound transformation of human-machine relationships from coexistence, interaction, and cooperation to collaboration and even symbiosis during the evolution from Industry 4.0 to Industry 5.0. Second, it focuses on reviewing the current research status of core technologies such as intelligent control of collaborative robots, safe human-machine interaction, human factors engineering and intelligent task allocation, digital twins, and augmented reality assistance. It also delves into the implementation principles and application progress of key technologies such as force control, visual servoing, collision detection, mutual cognitive interaction, and remote collaboration. Furthermore, it analyzes the role of digital twin technology in virtual-real mapping and collaborative optimization in human-machine collaboration, as well as the application value of augmented reality technology in improving the cognitive abilities and collaborative efficiency of operators. Finally, the future development trends of human-machine collaboration technology are discussed from the perspectives of cutting-edge areas such as cognitive manufacturing, intelligent predictive collaboration, and remote collaboration in hazardous environments. This paper aims to provide theoretical reference for in-depth research and engineering applications of human-machine collaboration technology in intelligent manufacturing systems.
Key words： Human-machine collaboration; Intelligent manufacturing; Collaborative robots; Safe interaction; Digital twin; Augmented reality; Human factors engineering
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