多臂协作机器人技术与应用现状及发展趋势

Review of Technology,Application Status and Development Trend in Multi-arm Cooperative Robots

随着劳动力紧缺及人力成本的不断升高,需要使用机器人的领域越来越多,数量也越来越大。就许多应用场景而言,任务复杂多变、应用环境和条件限制也各有不同,单臂协作机器人已不能满足要求,多臂协作机器人系统便应运而生,且已成为未来发展的重要领域。因为发展的时间较短,还需要研发人员做大量的工作。对多臂协作机器人的技术与应用现状进行了较为系统的梳理归纳,从影响较大的几个方面,即多臂协作机器人的应用、机构与轻量化设计、动力学与控制、协同技术、人工智能技术进行了综述。在此基础上,根据人工智能、控制等领域的新发展,提出了多臂协作机器人今后应该加强研究和发展的6个方向,如应用场景向深度人机协同方向发展、结构及零部件更注重高速、高精度和高功重比、在动力学方面将更加重视平顺性设计、协调式协作机器人系统需朝着分层多元化发展、控制将更加趋于自适应柔顺控制和自主决策、交互趋于多信息融合的多维安全保护与自然交互。

As labour shortages and labour costs continue to rise,more and more robots are needed in growing numbers.In many application scenarios,the tasks are complex and varied,the application environment and the conditions are so varied that single-arm collaborative robots are no longer meet the requirements and multi-arm collaborative robotic systems have emerged as an important area for future development.Because of the short time frame for development,a great deal of work is still needed by developers.This research summarizes the current state of technology and applications of multi-arm collaborative robots in a more systematic way and reviews several influential aspects of multi-arm collaborative robots such as applications,mechanism and lightweight,dynamics and control,cooperative technology,and artificial intelligence.On this basis,six directions for future research and development of multi-armed collaborative robots are proposed,based on new developments in artificial intelligence and control,such as the development of application scenarios towards deep human-robot collaboration,more emphasis on high speed,high precision and high work-to-weight ratio in structures and components,and more emphasis on smooth design in dynamics.The collaborative robot system will also develop in a hierarchical and diversified manner,with control methods tending towards adaptive and flexible control and autonomous decision-making,and interaction tending towards multi-dimensional safety protection and natural interaction with multi-information fusion.