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.

机器人操纵旨在将移动机器人平台的多功能性和灵活性与机器人操纵器的操纵能力相结合。这份调查报告从建模，控制和优化的角度全面回顾了协作机器人操纵的最新发展。然后，该领域的最新成果可以分为多个固定机械手，移动机器人和移动机械手的协调。对各种问题和有前途的方法进行了分类和比较。最后，在简短的讨论部分中总结了现有研究并指出了一些未来的研究方向。