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

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。

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