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双机器人协同控制研究综述

陈阳, 郑甲红, 王婧

(陕西科技大学机电工程学院, 西安 710021)

Review on Dual-robot Cooperative Control

CHEN Yang, ZHENG Jia-Hong, WANG Jing

(College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China)

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Received:April 13, 2021 Revised:May 19, 2021

中文摘要: 多机器人协同是未来机器人研究的一大热点, 双机器人系统是其中的一个典型代表. 针对目前双机器人协同系统的特性及常见应用, 从动力学模型的建立、轨迹规划和协同控制等3方面介绍了双机器人协同系统的研究内容, 分析各方面目前存在的技术漏洞和技术难点, 指出未来发展的方向.

中文关键词: 双机器人系统动力学模型轨迹规划协同控制

Abstract:Multi-robot coordination is one of the hot spots in future robot research, with dual-robot systems acting as a typical representative. According to the characteristics and common applications of dual-robot cooperative systems, this study introduces the research contents on these systems from three aspects, namely the establishment of dynamic models, trajectory planning and cooperative control. Moreover, it analyzes the technical vulnerability and difficulties in various aspects at present and points out the future development direction.

keywords: dual-robot system dynamic model trajectory planning coordinated control

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基金项目:陕西省重点研发计划（2020NY-116）

Author Name	Affiliation	E-mail
CHEN Yang	College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China
ZHENG Jia-Hong	College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China	463578575@qq.com
WANG Jing	College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China

Author Name	Affiliation	E-mail
CHEN Yang	College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China
ZHENG Jia-Hong	College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China	463578575@qq.com
WANG Jing	College of Mechanical and Electrical Engineering, Shaanxi University of Science and Technology, Xi’an 710021, China

引用文本：
陈阳,郑甲红,王婧.双机器人协同控制研究综述.计算机系统应用,2022,31(2):13-21
CHEN Yang,ZHENG Jia-Hong,WANG Jing.Review on Dual-robot Cooperative Control.COMPUTER SYSTEMS APPLICATIONS,2022,31(2):13-21