An overview of collaborative robotic manipulation in multi-robot systems |
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Affiliation: | 1. School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore 639798, Singapore;2. Delta Electronics Int’l (Singapore) Pte Ltd, Delta Research Centre, 21 Biopolis Road, Singapore 138567 Singapore |
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Abstract: | Robotic manipulation aims at combining the versatility and flexibility of mobile robot platforms with manipulation capabilities of robot manipulators. This survey paper comprehensively reviews the state-of-the-art development of collaborative robotic manipulation from the perspective of modelling, control and optimization. Then, the recent results in this field can be categorized into coordination of multiple fixed manipulators, mobile robots and mobile manipulators, respectively. A classification and comparison of various issues and promising approaches is given. Finally, a short discussion section is given to summarize existing research and to point out several future research directions. |
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