The framework of this paper is to present a systematic review of the state-of-the-art development of cooperative dual-arm manipulators in the industrial and household fields. A PRISMA report is exploited to select the inclusion and exclusion criteria of the relevant research articles for the review process. Based on the design, mobility, and application aspects, a sustainable classification of these manipulators is addressed. Thereafter, modeling, planning, control, and visualization techniques are investigated in developing dual-arm manipulators. The classification of control strategy for cooperative dual-arm manipulators is systematically presented in tabulated form based on the control method, targeted force, control architecture, type of uncertainty, and environment of conducted study. The effectiveness of reviewed techniques is highlighted for different dual-arm robotic manipulators. In the end, this paper discusses some of the challenges and future research directions in the field of grasp learning, materials, network communications, sensors, and intelligent controllers.

本文的框架是对工业和家庭领域协作双臂机械手的最新发展进行系统回顾。利用 PRISMA 报告来选择审查过程中相关研究文章的纳入和排除标准。基于设计、移动性和应用方面，对这些机械臂进行可持续的分类。此后，在开发双臂机械臂时研究了建模、规划、控制和可视化技术。基于控制方法、目标力、控制架构、不确定性类型和研究环境，系统地以表格形式呈现了协作双臂机械臂控制策略的分类。对于不同的双臂机器人操纵器，突出了所审查技术的有效性。最后，本文讨论了抓取学习、材料、网络通信、传感器和智能控制器领域的一些挑战和未来的研究方向。