With the rapid development of the information age, the development of industrial robots is also advancing by leaps and bounds. In the scenes of automobile, medicine, aerospace, and public service, we have fully enjoyed the convenience brought by industrial robots. However, with the continuous development of industrial robot-related concepts and technologies, human-computer interaction and cooperation have become the development trend of industrial robot. In this paper, the human-machine cooperation and path optimization of industrial robot in a complex road environment are studied and analyzed. At the theoretical modeling level, firstly, the industrial robot is modeled and obstacle avoidance is analyzed based on the kinematics of industrial robot; thus, an efficient and concise collision detection model of industrial robot is proposed. At the algorithm level, in view of the complex road conditions faced by industrial robots, this paper will study and analyze the obstacle avoidance strategy of human-computer cooperation and real-time path optimization algorithm of industrial robots. Based on the virtual target point algorithm, this paper further improves the problem that the goal of the traditional path planning algorithm cannot be fully covered, so as to propose the corresponding improved path planning algorithm of industrial robots. In the experimental part, based on the existing industrial robot system, the human-machine cooperation and path planning system proposed in this paper are designed. The experimental results show that the algorithm proposed in this paper improves the accuracy of obstacle avoidance by about 10 points and the corresponding convergence speed by about 5% compared with the traditional algorithm and the experimental effect is remarkable.

中文翻译：

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复杂路况下的人机协同与路径规划

随着信息时代的飞速发展，工业机器人的发展也在突飞猛进。在汽车、医药、航空航天、公共服务等场景，我们充分享受到了工业机器人带来的便利。然而，随着工业机器人相关概念和技术的不断发展，人机交互与协作已成为工业机器人的发展趋势。本文对复杂道路环境下工业机器人的人机协同和路径优化进行了研究和分析。在理论建模层面，首先对工业机器人进行建模，并基于工业机器人的运动学进行避障分析；因此，提出了一种高效简洁的工业机器人碰撞检测模型。在算法层面，针对工业机器人面临的复杂路况，本文将研究分析工业机器人人机协同避障策略和实时路径优化算法。本文在虚拟目标点算法的基础上，进一步改进了传统路径规划算法目标不能完全覆盖的问题，从而提出了相应的工业机器人路径规划改进算法。在实验部分，基于现有的工业机器人系统，设计了本文提出的人机协作与路径规划系统。