王琪;闵华松;

• 1:武汉科技大学机器人与智能系统研究院

摘要(Abstract)：

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(KeyWords)： 双臂操作;运动建模;双臂协调控制;模仿学习;人机交互

Abstract:

Keywords:

基金项目(Foundation): 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）

作者(Author): 王琪;闵华松;

Email:

DOI:

参考文献(References)：

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