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

doi:10.3901/JME.2023.15.001

Abstract

Abstract: 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.

Key words: collaborative robots, multi-arm collaboration, modelling and control, human-robot collaboration, compliance control, natural interaction

CLC Number:

TP242

WU Qilin, ZHAO Han, CHEN Xiaofei, ZHAO Yating. Review of Technology, Application Status and Development Trend in Multi-arm Cooperative Robots[J]. Journal of Mechanical Engineering, 2023, 59(15): 1-16.

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: http://www.cjmenet.com.cn/EN/10.3901/JME.2023.15.001

http://www.cjmenet.com.cn/EN/Y2023/V59/I15/1

References

[1] 张含阳. 人机协作:下一代机器人的必然属性[J]. 机器人产业,2016,3:37-45. Zhang Hanyang. Human-robot collaboration:An inevitable property for the next generation of robots[J]. Robotics Industry,2016,3:37-45.
[2] NavasReascos G E,Romero D,Rodriguez C A,et al. Wire harness assembly process supported by a collaborative robot:A case study focus on ergonomics[J]. Robotics,2022,11(6):131.
[3] YING K c,Chen c y,Wang L x. Fuzzy Q-Learning interaction controller design for collaborative robot[J]. Cobot,2022,11:1-21.
[4] 黎文娟,董凯. 从技术、场景、生态发力抢抓协作机器人发展"新赛道"[J]. 机器人产业,2022,2:26-31. Li Wenjuan,Dong Kai. Developing a "new track" of grabbing cooperative robots from technology,Scene and Ecology[J]. Robotics Industry,2022,2:26-31.
[5] 杨超. 智能制造领域协作机器人的应用分析[J]. 产业与科技论坛,2022,21(2):35-36. Yang Chao. Application analysis of collaborative robot in intelligent manufacturing field[J]. Industry and Science and Technology Forum,2022,21(2):35-36.
[6] 霍淑珍,何志超. 协作机器人在智能制造中的应用[J].机床与液压,2021,49(9):62-66. HUO Shuzhen,HE Zhichao. Application of cobot in intelligent manufacturing[J]. Machine Tool & Hydraulics,2021,49(9):62-66.
[7] 周顺. 三机械臂深度强化学习协调控制算法研究[D]. 天津:天津理工大学,2021. ZHOU Shun. Research on deep reinforcement learning coordination control algorithm of triple arm robot[D]. Tianjin:Tianjin University of Technology,2021.
[8] KUMAR S,SIKANDER A. A novel hybrid framework for single and multi-robot path planning in a complex industrial environment[J]. Journal of Intelligent Manufacturing,2022,12:1-26.
[9] 席万强. 多机器人协调系统的构建与控制研究[D]. 南京:南京航空航天大学,2019. XI Wanqiang. Research on construction and control of coordinated multi-robots system[D]. Nanjing:Nanjing University of Aeronautics and Astronautics,2019.
[10] BOGUE R. The rise of surgical robots[J]. Industrial Robot:the international journal of robotics research and application,2021,48(3):335-340.
[11] QU J,ZHANG F,WANG Y,et al. Human-like coordination motion learning for a redundant dual-arm robot[J]. Robotics and Computer-Integrated Manufacturing,2019,57:379-390.
[12] WILSON A D,SCHULTZ J A,ANSARI A R,et al. Dynamic task execution using active parameter identification with the baxter research robot[J]. IEEE Transactions on Automation Science & Engineering A Publication of the IEEE Robotics & Automation Society,2016,14(1):391-397.
[13] MICHALÍK R,JANOTA A,GREGOR M,et al. Human-Robot motion control application with artificial intelligence for a cooperating yumi robot[J]. Electronics,2021,10(16):1976.
[14] KLOETZER M,MAHULEA C. Path planning for robotic teams based on LTL specifications and petri net models[J]. Discrete Event Dynamic Systems,2020,30(1):55-79.
[15] CETIN O,ZAGLI I,YILMAZ G. Establishing obstacle and collision free communication relay foruavs with artificial potential fields[J]. Journal of Intelligent & Robotic Systems,2013,69(1):361-372.
[16] JU M Y,LIU J S,HWANG K S. Real-time velocity alteration strategy for collision-free trajectory planning of two articulated robot manipulators[J]. Journal of Intelligent and Robotic Systems,2002,33(2):167-186.
[17] 沈旭明. 基于时序A*算法的双臂机器人避障路径规划研究[D]. 杭州:浙江工业大学,2020. SHEN Xuming. Obstacle avoidance path planning for dual-arm robot based on time sequence A* algorithm[D]. Hangzhou:Zhejiang University of Technology,2020.
[18] PAPAKOSTAS N,MICHALOS G,MAKRIS S,et al. Industrial applications with cooperating robots for the flexible assembly[J]. International Journal of Computer Integrated Manufacturing,2011,24(7):650-660.
[19] TSAI Y C,HUANG H P. Motion planning of a dual-arm mobile robot in the configuration-time space[C]//International Conference on Intelligent Robots and Systems. Automation Division. Seminar on Robotics Applications,Missouri:IEEE/RSJ,2009:2458-2463.
[20] 段晋军. 多机器人协作焊接中的轨迹规划和位置力协调控制研究[D]. 南京:东南大学,2019. DUAN Jinjun. Trajectory planning and position force coordination control in multi-robot cooperative welding process[D]. Nanjing:Southeast University,2019.
[21] BASILE F,CACCAVALE F,CHIACCHIO P,et al. Task-oriented motion planning for multi-arm robotic systems[J]. Robotics and Computer Integrated Manufacturing,2012,28(5):569-582.
[22] ZHENG Y,LUH J,JIA P. A real-time distributed computer system for coordinated-motion control of two industrial robots[C]//International Conference on Robotics and Automation. North Carolina:IEEE,1987:1236-1241.
[23] CACCAVALE F,LIPPIELLO V,SICILIANO B,et al. RePLiCS:an environment for open real-time control of a dual-arm industrial robotic cell based on RTAI-Linux[C]//International Conference on Intelligent Robots and Systems.Networked Sensors and Robots for the Improvement of the Quality of Life,Edmonton:IEEE,2005:2493-2498.
[24] WANG H,LI R,GAO Y,et al. Comparative study on the redundancy of mobile single-and dual-arm robots[J]. International Journal of Advanced Robotic Systems,2016,13(6):1-19.
[25] LIU K,LEWIS F L. Decentralized continuous robust controller for mobile robots[C]//Proceedings 1990 IEEE International Conference on Robotics and Automation. Cincinnati:IEEE,1990:1822-1827.
[26] KORAYEM M H,ESFEDEN R A,NEKOO S R. Path planning algorithm in wheeled mobile manipulators based on motion of arms[J]. Journal of Mechanical Science and Technology,2015,29(4):1753-1763.
[27] ZHONG G,KOBAYASHI Y,HOSHINO Y,et al. System modeling and tracking control of mobile manipulator subjected to dynamic interaction and uncertainty[J]. Nonlinear Dynamics,2013,73(1-2):167-182.
[28] ALONSO-MORA J,KNEPPER R,SIEGWART R,et al. Local motion planning for collaborative multi-robot manipulation of deformable objects[C]//International conference on robotics and automation (ICRA). Seattle:IEEE,2015:5495-5502.
[29] MIYATA N,OTA J,ARAI T,et al. Cooperative transport by multiple mobile robots in unknown static environments associated with real-time task assignment[J]. IEEE Transactions on Robotics and Automation,2002,18(5):769-780.
[30] GERKEY B P,MATARIC M J. Sold:Auction methods for multi-robot coordination[J]. IEEE Transactions on Robotics and Automation,2002,18(5):758-768.
[31] HUNTSBERGER T,PIRJANIAN P,TREBI-OLLENNU A,et al. Campout:A control architecture for tightly coupled coordination of multi-robot systems for planetary surface exploration[J]. IEEE Transactions on Systems,Man,and Cybernetics -Part A:Systems and Humans,2003,33(5):550-559.
[32] 陈卫东,席裕庚,顾冬雷,等. 一个面向复杂任务的多机器人分布式协调系统[J]. 控制理论与应用,2002(4):505-510. CHEN Weidong,XI Yugeng,GU Donglei,et al. A multi-robot distributed coordination system for complex tasks[J]. Control Theory and Applications,2002(4):505-510.
[33] HOLLERBACH J M. Optimum kinematic design for a seven degree of freedom manipulator[C]//Proceedings of the Robotics Research. Cambridge,USA:The Second International Symposium,1985:215-222.
[34] 归彤,原培章. 7自由度机器人的图谱问题[J]. 机器人,1991,13(4):27-30. GUI Tong,YUAN Peizhang. An atlas of 7-DOF robot manipulators[J]. Robot,1991,13(4):27-30.
[35] 赵占芳. 七自由度机器人机构的选型[J]. 机器人,1989,3(1):53-56. ZHAO Zhanfang. The selection of seven degrees of freedom robot mechanism[J]. Robot,1989,3(1):53-56.
[36] OSTERGAARD E H. Lightweight robot for everybody[industrial activities] [J]. IEEE Robotics & Automation Magazine,2012,19(4):17-18.
[37] 杨世强,王蓓蓓. 轻型机械臂的轻量化结构设计优化方法[J]. 中国机械工程,2016,27(19):2575-2588. YANG Shiqiang,WANG Beibei. Lightweight structure design and optimization method for a light mobile manipulator[J]. China Mechanical Engineering,2016,27(19):2575-2588.
[38] MAURICE P,PADOIS V,MEASSON Y,et al. Human-oriented design of collaborative robots[J]. International Journal of Industrial Ergonomics,2017,57(34):88-102.
[39] YE D,SUN S,CHEN J,et al. The lightweight design of the humanoid robot frameworks based on evolutionary structural optimization[C]//International Conference on Robotics and Biomimetics. Bali,Indonesia:IEEE,2015:2286-2291.
[40] 周瑞. 基于多目标拓扑优化的轻量化机器人设计[D]. 苏州:苏州大学,2017. ZHOU Rui. Light-weight robot design based on muti-objective topology optimization[D]. Suzhou:Soochow University,2017.
[41] 陈志勇,张婷婷,郭益深. 弹性基和弹性关节空间机器人的自适应鲁棒抗扰控制及振动抑制[J]. 自动化学报,2018,44(7):1271-1281. CHEN Zhiyong,ZHANG Tingting,GUO Yishen. Adaptive robust anti-interference control and vibration suppression for an elastic-base elastic-joint space robot[J]. Acta Automatica Sinica,2018,44(7):1271-1281.
[42] CAI H,HUANG Y,TANG T,et al. Double speed loops control for high-precision position tracking of position-controlled actuators involving a harmonic drive reducer[J]. Advances in Mechanical Engineering,2016,8(3):1-10.
[43] JU J,ZHAO Y,ZHANG C,et al. Vibration suppression of a flexible-joint robot based on parameter identification and fuzzy PID control[J]. Algorithms,2018,11(11):189.
[44] HU Y,ZHAN Y,HAN L,et al. An angle error compensation method based on harmonic analysis for integrated joint modules[J]. Sensors,2020,20(6):1715.
[45] 杨振. 机器人若干控制问题分析与设计[D]. 南京:东南大学,2018. YANG Zhen. Analysis and design of several control problems of robot[D]. Nanjing:Southeast University,2018.
[46] SAIOA H,CHARLES P,OSCAR A,et al. Analysis of the 2PRU-1PRS 3DOF parallel manipulator:Kinematics,singularities and dynamics[J]. Robotics and Computer Integrated Manufacturing,2018,51:63-72.
[47] GAN Y H,DUAN J J,CHEN M,et al. Multi-robot trajectory planning and position/force coordination control in complex welding tasks[J]. Applied Sciences,2019,9(5):924.
[48] AVISHAI S,ANDY B,TIMOTHY B. Motion planning of fully actuated closed kinematic chains with revolute joints:a comparative analysis[J]. IEEE Robotics and Automation Letters,2018,3(4):2886-2893.
[49] HOU Z T,MA S M,ZENG Q F,et al. Kinematics analysis and self -collision detection of Truss type multi-robot cooperative welding platform[J]. Procedia CIRP,2019,81:488-493.
[50] KHALIL W. Dynamic modeling of robots using Newton-Euler formulation[J]. Informatics in Control,Automation and Robotics,2011,89(1):3-20.
[51] LI Q,LI B,ZHAO X H. Dynamic analysis of a new type of asymmetrical parallel mechanism based on lagrange method[J]. IOP Conference Series:Materials Science and Engineering,2018,428(1):012074.
[52] ZHAO H,ZHEN S C,CHEN Y H. Dynamical modeling and simulation of multi-body systems by using Udwadia-Kalaba theory[J]. Chinese Journal of Mechanical Engineering,2013,26(05):839-850.
[53] 戴建生. 机构学与机器人学的几何基础与旋量代数[J]. 机械设计与研究,2014(4):161-161. DAI Jiansheng. Geometric foundation and spinor algebra of mechanism and robotics[J]. Machine Design and Research,2014(4):161-161.
[54] ZHEN S C,HUANG K,ZHAO H,et al. Why can a free-falling cat always manage to land safely on its feet?[J]. Nonlinear Dynamics,2015,79:2237-2250.
[55] UDWADIA F E,KALABA R E. Explicit equations of motion for mechanical systems with nonideal constraints[J]. Journal of Applied Mechanics,2001,68(3):462-467.
[56] UDWADIA F E,PHOHOMSIRI P. Explicit equations of motion for constrained mechanical systems with singular mass matrices and applications to multi-body dynamics[J]. Proceedings of the Royal Society A:Mathematical,Physical and Engineering Science,2006,462(2071):2097-2117.
[57] UDWADIA F E. Dual generalized inverses and their use in solving systems of linear dual equations[J]. Mechanism and Machine Theory,2021,156:104158.
[58] 刘镔震. 协作机器人动力学建模与控制[D]. 青岛:青岛大学,2022. LIU Binzhen. Dynamic modeling and control of collaborative robots[D]. Qingdao:Qingdao University,2022.
[59] HE J,ZHENG H C,GAO F,et al. Dynamics and control of a 7-DOF hybrid manipulator for capturing a non-cooperative target in space[J]. Mechanism and Machine Theory,2019,140:83-103.
[60] CHEN Y H. Fuzzy dynamical system approach to the observer design of uncertain systems[J]. Proceedings of the Institution of Mechanical Engineers,Part I:Journal of Systems and Control Engineering,2010,224(5):509-520.
[61] ZHU X,TAO G,YAO B,et al. Adaptive robust posture control of parallel manipulator driven by pneumatic muscles with redundancy[J]. Automatica,2006,39(16):764-769.
[62] UDWADIA F E. A new perspective on the tracking control of nonlinear structural and mechanical systems[J]. Proceedings of the Royal Society of London. Series A:Mathematical,Physical and Engineering Sciences,2003,459(2035):1783-1800.
[63] UDWADIA F E. Optimal tracking control of nonlinear dynamical systems[J]. Proceedings of the Royal Society A:Mathematical,Physical and Engineering Science,2008,464(2097):2341-2363.
[64] UDWADIA F E. A new approach to stable optimal control of complex nonlinear dynamical systems[J]. Journal of Applied Mechanics,2014,81(3):031001.
[65] CHEN Y H. Constraint-following servo control design for mechanical systems[J]. Journal of Vibration and Control,2009,15(3):369-389.
[66] SUN H,CHEN Y H,XIONG Y S,et al. Configuring tasks as constraints for coordinated mechanical systems:A Udwadia-Kalaba theory based adaptive robust control[J]. Journal of the Franklin Institute,2020,357(6):3387-3418.
[67] 甘亚辉,戴先中. 多机械臂协调控制研究综述[J]. 控制与决策,2013,28(3):321-333. GAN Yahui,DAI Xianzhong. Survey of coordinated multiple manipulators control[J]. 2013,28(3):321-333.
[68] HUANG B,LI Z,WU X,et al. Coordination control of a dual-arm exoskeleton robot using human impedance transfer skills[J]. IEEE Transactions on Systems,Man,and Cybernetics:Systems,2017,49(5):954-963.
[69] BENLI E,MOTAI Y,ROGERS J. Visual perception for multiple human-robot interaction from motion behavior[J]. IEEE Systems Journal,2019,14(2):2937-2948.
[70] ZHANG H T,XU H,XU B,et al. Adaptive learning-based distributed control of cooperative robot arm manipulation for unknown objects[J]. IEEE Transactions on Systems,Man,and Cybernetics:Systems,2022,53(2):1298-1307.
[71] QU J,ZHANG F,FU Y,et al. Adaptive neural network visual servoing of dual-arm robot for cyclic motion[J]. Industrial Robot:An International Journal,2017,44(2):210-221.
[72] GARCIA N,SUÁREZ R,ROSELL J. Task-dependent synergies for motion planning of an anthropomorphic dual-arm system[J]. IEEE Transactions on Robotics,2017,33(3):756-764.
[73] DING X,GUO J,REN Z,et al. State-of-the-art in perception technologies for collaborative robots[J]. IEEE Sensors Journal,2021,22(18):17635-17645.
[74] WENG W T,HUANG H P,ZHAO Y L,et al. Development of a visual perception system on a dual-arm mobile robot for human-robot interaction[J]. Sensors,2022,22(23):9545.
[75] RODRIGUES I R,DANTAS M,OLIVEIRA FILHO A T,et al. A framework for robotic arm pose estimation and movement prediction based on deep and extreme learning models[J]. The Journal of Supercomputing,2023,79(7):7176-7205.
[76] GHADIRZADEH A,CHEN X,YIN W,et al. Human-centered collaborative robots with deep reinforcement learning[J]. IEEE Robotics and Automation Letters,2020,6(2):566-571.
[77] LIU L,LIU Q,SONG Y,et al. A collaborative control method of dual-arm robots based on deep reinforcement learning[J]. Applied Sciences,2021,11(4):1816.
[78] 张小栋,陈江城,尹贵. 下肢康复机器人肌电感知与人机交互控制方法[J]. 振动. 测试与诊断,2018,38(4):649-657. ZHANG Xiaodong,CHEN Jiangcheng,YIN Gui. An approach for human-robot interactive control of lower limb rehabilitation robot based on surface EMG perception[J]. Vibration. Journal of Measurement & Diagnosis,2018,38(4):649-657.
[79] 赵海文,齐恒佳,王旭之,等. 基于机器学习的人机协调操作意图感知与控制方法研究[J]. 机床与液压,2019 47(10):36-42. ZHAO Haiwen,QI Hengjia,WANG Xuzhi,et al. Research on the perception and control method of human robot cooperation based on machine learning[J]. Machine Tool & Hydraulics,2019,47(10):36-42.
[80] MAEDA G J,NEUMANN G,EWERTON M,et al. Probabilistic movement primitives for coordination of multiple human-robot collaborative tasks[J]. Autonomous Robots,2017,41(3):593-612.
[81] 刘鹏,赵韩,黄康,等. 线段齿轮法向接触刚度的改进分形模型研究[J]. 机械工程学报,2018,54(7):114-122. LIU Peng,ZHAO Han,HUANG Kang,et al. Research on normal contact stiffness of micro-segments gear based on improved fractal model[J]. Journal of Mechanical Engineering,2018,54(7):114-122.
[82] HUANG K,ZHANG J,CHEN Q,et al. The transmission system dynamic analysis considering the gear installation error of the planet gears for Ravigneaux automatic gearbox[J]. Applied Mechanics and Materials,2012,215(216):1013-1016.
[83] 熊杨寿,韩广志,黄康,等. 考虑时变摩擦系数的微线段齿轮系统动态特性分析[J]. 机械工程学报,2021,57(19):113-127. XIONG Yangshou,HAN Guangzhi,HUANG Kang,et al. Research on the nonlinear dynamics of micro-segment gear system with time-varying friction coefficient[J]. Journal of Mechanical Engineering,2021,57(19):113-127.
[84] HUANG K,XIONG Y,WANG T,et al. Research on the dynamic response of high-contact-ratio spur gears influenced by surface roughness under EHL condition[J]. Applied Surface Science,2017,392:8-18.