Collaborative Control Analysis of Dual Arm Robots

Abstract

The collaborative control technology of dual arm systems does play a crucial role in the field of robotics. This technology enables robots to exhibit extremely high efficiency and accuracy in handling complex, dangerous, or delicate tasks by precisely coordinating the movements of two robotic arms. With the shortage of labor and the continuous increase in labor costs, there are more and more fields that require the use of robots, and the quantity is also increasing. For many application scenarios, tasks are complex and varied, and application environments and conditions are also different. Single arm collaborative robots can no longer meet the requirements, and multi arm collaborative robot systems have emerged and become an important field for future development. However, the dual arm robot is a strongly coupled, highly nonlinear, and uncertain system, and its collaborative control problem is a challenging topic. This review provides a detailed summary of the collaborative control methods for dual arm systems, including classic methods such as master-slave control, force/position hybrid control, and impedance control during collaborative handling; Intelligent control methods based on neural networks and fuzzy systems; The progress of reinforcement learning based control methods in robot control. Finally, the future development trends of dual arm systems were discussed.