{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,5]],"date-time":"2026-06-05T08:25:38Z","timestamp":1780647938420,"version":"3.54.1"},"reference-count":27,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2024,3,8]],"date-time":"2024-03-08T00:00:00Z","timestamp":1709856000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In the field of aerospace, large and heavy cabin segments present a significant challenge in assembling space engines. The substantial inertial force of cabin segments\u2019 mass often leads to unexpected motion during docking, resulting in segment collisions, making it challenging to ensure the accuracy and quality of engine segment docking. While traditional manual docking leverages workers\u2019 expertise, the intensity of the labor and low productivity are impractical for real-world applications. Human-robot collaboration can effectively integrate the advantages of humans and robots. Parallel robots, known for their high precision and load-bearing capacity, are extensively used in precision assembly under heavy load conditions. Therefore, human-parallel-robot collaboration is an excellent solution for such problems. In this paper, a framework is proposed that is easy to realize in production, using human-parallel-robot collaboration technology for cabin segment docking. A fractional-order variable damping admittance control and an inverse dynamics robust controller are proposed to enhance the robot\u2019s compliance, responsiveness, and trajectory tracking accuracy during collaborative assembly. This allows operators to dynamically adjust the robot\u2019s motion in real-time, counterbalancing inertial forces and preventing collisions between segments. Segment docking assembly experiments are performed using the Stewart platform in this study. The results show that the proposed method allows the robot to swiftly respond to interaction forces, maintaining compliance and stable motion accuracy even under unknown interaction forces.<\/jats:p>","DOI":"10.3390\/s24061747","type":"journal-article","created":{"date-parts":[[2024,3,8]],"date-time":"2024-03-08T03:52:11Z","timestamp":1709869931000},"page":"1747","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Research on Human-Robot Collaboration Method for Parallel Robots Oriented to Segment Docking"],"prefix":"10.3390","volume":"24","author":[{"given":"Deyuan","family":"Sun","sequence":"first","affiliation":[{"name":"School of Mechanical Engineering, Shenyang University of Technology, Shenyang 110870, China"},{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junyi","family":"Wang","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhigang","family":"Xu","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jianwen","family":"Bao","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Han","family":"Lu","sequence":"additional","affiliation":[{"name":"Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China"},{"name":"Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang 110169, China"},{"name":"University of Chinese Academy of Sciences, Beijing 100049, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,8]]},"reference":[{"key":"ref_1","first-page":"363","article-title":"Research status and development trend of motion performance of parallel robots","volume":"52","author":"Ye","year":"2020","journal-title":"J. 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