本课题以通过人机合作来提升机器人制造系统的智能化程度为目标，围绕人机合作安全和对非结构化的操作环境和不确定的作业任务的适应性展开伺服系统的自律控制研究，建立机器人本质的安全机制并设计适应不确定作业工况的控制方法，为我国的机器人智能制造研究提供伺服控制技术支持。具体研究内容包括：利用运动控制信息设计伺服系统部件失效的监测方法并建立相应的响应机制，确保机器人运行安全；设计智能刚-柔控制算法，针对碰撞、挤压等安全相关力进行阻抗控制和针对其余干扰进行位置跟踪控制，确保操作工人安全并满足位置跟踪需求；研究控制参数在线调整方法，适应任务工况变化；开发和搭建开放的人机合作系统，设计部件失效监测实验和挤压、碰撞试验，模拟人机合作装配复杂零件，验证和演示上述控制方法。

In order to improve the manufacturing intelligence, this project focuses on the servo control for robot cooperating with human to achieve adaptation to varying environments and tasks in the premise of ensuring safety. The research consists of the following contents. First, a fault diagnosis algorithm via motion control information and the response mechanism are designed for safe motions. Then, an intelligent rigid-flexible control algorithm is researched, consisting of impedance control to collision force and squeeze force from workers and high-precision motion control dealing with other disturbances. Consequently, on-line control parameters adjustment algorithm is designed to adapt to different situations. At last, a robot and human cooperation platform with open control architecture is developed to verify the above algorithms. The outcome of this project on the servo control will support the research of intelligent manufacturing using robots in China.