双臂机器人的协调控制算法综述  

Review of Coordinated Control Algorithms for Dual-Arm Robots

作　　者：王琪 闵华松 WANG Qi;MIN Huasong(School of Robotics and Intelligent Systems,Wuhan University of Science and Technology,Wuhan 430080,China)

机构地区：[1]武汉科技大学机器人与智能系统研究院,武汉430080

出　　处：《计算机工程与应用》2021年第1期1-16,共16页Computer Engineering and Applications

基　　金：国家自然科学基金(61673304);湖北省重大科技创新项目(2017YFB1300405);十三五国家重点研发计划(2019AAA071);武汉市应用基础前沿项目(2018010401011275)。

摘　　要：双臂机器人系统是当前机器人领域的研究热点,特别是随着单臂机器人在操作能力、控制等方面的局限性不断凸显,最近的研究集中在拥有协调操作能力的冗余双臂机器人。对双臂操作进行分类,然后从双臂协调运动方式、双臂协调控制问题、感知传感器、模仿学习、人机交互五个方面进行分析;综述从运动学、动力学现状入手,分析了双臂协调控制与单臂控制方式在约束关系、运动规划、协调控制方式等方面的不同与发展,结合感知传感器、模仿学习等方法在双臂协调控制中的应用;对人机协作中的交互方式进行了分析,并对双臂机器人的未来研究方向进行了展望。The dual-arm robot system is a research hotspot in the field of robot,especially with the limitation of single-arm robot in operation ability and control,the research focuses on the redundant dual-arm robot with coordinated operation ability.Firstly,the dual-arm operation is classified,and then it is analyzed from five aspects:the dual-arm coordinated motion mode,the dual-arm coordinated control problem,the sensing sensor,the imitation learning,and the human-computer interaction.Review from the current situation of kinematics,dynamics,it analyzes the differences and development of dual-arm coordinated control and single-arm control mode in constraint relationship,motion planning,coordinated control mode,and the application of sensing sensors and imitation learning in dual-arm coordinated control.Finally,the interaction mode of human-computer cooperation is analyzed,and the future research direction of dual-arm robot is prospected.

关 键 词：双臂操作 运动建模 双臂协调控制 模仿学习 人机交互 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]