论文标题
基于传感器的协作机器人控制：基本面，挑战和机遇
Sensor-Based Control for Collaborative Robots: Fundamentals, Challenges and Opportunities
论文作者
论文摘要
本文的目的是对现有的基于传感器的控制方法进行系统的综述，以涉及人与机器人之间直接互动的应用，以身体协作或安全共存的形式进行。为此，我们首先介绍了传感器 - 传感器问题的基本公式，然后介绍最常见的方法：基于视觉，基于触摸，基于音频和基于距离的控制。之后，我们讨论并正式化在控制级别集成异质传感器的方法。根据传感器的类型，对多个测量的结合方式以及目标目标和应用的方式，对经过调查的文献进行了分类。最后，我们讨论开放问题，潜在的应用和未来的研究方向。
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe coexistence. To this end, we first introduce the basic formulation of the sensor-servo problem, then present the most common approaches: vision-based, touch-based, audio-based, and distance-based control. Afterwards, we discuss and formalize the methods that integrate heterogeneous sensors at the control level. The surveyed body of literature is classified according to the type of sensor, to the way multiple measurements are combined, and to the target objectives and applications. Finally, we discuss open problems, potential applications, and future research directions.
