智能机械手发展及控制算法研究综述

Review on the Development and Control Algorithms of Intelligent Manipulators

智能机械手是智能机器人的重要分支,能够代替人类完成各类复杂任务。由于人工智能发展较快,分支庞大,但目前该领域总结性研究较少。从应用领域、材料与驱动、仿真与控制算法等方面综合梳理了刚性、柔性、刚—柔耦合仿生手目前研究状态及商用化状况,重点对控制算法进行全面统计,为后续研究者提供理论参考。

Intelligent manipulator is an important branch of intelligent robot,which can replace human to complete all kinds of complex tasks.At present,because of the rapid development of artificial intelligence,but at present the field of summary research is less.The current research commercialization status of rigid,flexible,rigid-flexible coupling bionic hands are summarized comprehensively from the aspects of application field,material and drive,simulation and control,etc.,and the control algorithm is mainly made a comprehensive statistics to provide theoretical reference for subsequent researchers.