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A systematic review on cooperative dual-arm manipulators: modeling, planning, control, and vision strategies

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Abstract

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.

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Acknowledgements

The first author would like to thank Al-Baath University, Ministry of Higher Education, Syrian Arab Republic for their support during the higher studies.

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  1. J. Narayan and S. K. Dwivedy contributed equally to this work.

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  1. Mechanical Engineering Department, Indian Institute of Technology Guwahati, Guwahati, Assam, 781039, India

    Mohamed Abbas, Jyotindra Narayan & Santosha K. Dwivedy

  2. Design and Production Engineering Department, Al-Baath University, Homs, Syria

    Mohamed Abbas

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Abbas, M., Narayan, J. & Dwivedy, S.K. A systematic review on cooperative dual-arm manipulators: modeling, planning, control, and vision strategies. Int J Intell Robot Appl 7, 683–707 (2023). https://doi.org/10.1007/s41315-023-00292-0

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