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

Abstract:

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.

Key words: dual-arm manipulation, motion modeling, dual-arm coordination and control, imitation learning, human-robot interaction