双机器人协调运动的研究现状

Research Status of Double Robot Coordinated Motion

双、多机器人协调运动、协调作业一直是国际机器人技术中的研究热点。对双机器人协调运动基础和双机器人力学协调运动的研究现状进行了阐述,包括双机器人坐标系标定、双机器人协调运动、双机器人简化建模和包围盒技术、双机器人力反馈控制方法、协调搬运中的力学协调控制技术以及轴孔装配中的力学控制技术等6个方面,并提出总结和展望。

Describe the research status of double robot coordinated motion with backdrop of a large number of robots used in industry. Elaborate the theoretical basis and mechanical control of the double coordinate motion. The research in- cludes the robot coordinate system calibration, double robot coordinated motion and its simplified model, force feedback con- trol method of double robot, technology of coordination and control about mechanical handling method, and assembling shaft with holes. Propose the summary and outlook in the end of paper.