%0 Journal Article %A WANG Qi %A MIN Huasong %T Review of Coordinated Control Algorithms for Dual-Arm Robots %D 2021 %R 10.3778/j.issn.1002-8331.2008-0025 %J Computer Engineering and Applications %P 1-16 %V 57 %N 1 %X

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.

%U http://cea.ceaj.org/EN/10.3778/j.issn.1002-8331.2008-0025