Developing Two-Armed Robot Assistant: Selecting Lines of Research

Background/Objectives: The objective of this study is to select the lines of research for implementing constructive and firmware solutions to create universal robot that would perform different simple tasks. Methods: Such technical solutions will be used for further development of different types of robots of either anthropomorphic or of any other random configuration designed for performing a wide spectrum of tasks in industrial, social or domestic environments. Findings: The study presents the results of the analysis of information sources and patent research studies on the areas as follows: principles of building hardware and software complexes for two-armed assistant robots that would partially replace manual labor in remote object handling operations; algorithms for controlling kinematic joints of the manipulator that implement the principles of inverse kinematics and dynamics to ensure safe working environment for man in the process of human-robot collaboration; methods of coordinated control over two manipulators. Applications/Improvements: The results of the study can be applied to constructive and firmware solutions in the process of creating a universal robot to replace manual labor in remote autonomous operations.