自然杂志 ›› 2025, Vol. 47 ›› Issue (5): 330-349.doi: 10.3969/j.issn.0253-9608.2025.05.002

• 专题综述 • 上一篇    下一篇

面向制药配药的智能双臂机器人及其关键技术研究进展

张辉①②，孔垂旺①，李康①，陈为立③，陈波①，樊叶心①，江一鸣①，王耀南①②   

  1.  ①湖南大学 机器人学院，长沙 410082；②湖南大学 机器人视觉感知与控制技术国家工程研究中心，长沙 410082；③长沙理工大学 电气与信息工程学院，长沙 410114
  • 收稿日期:2025-04-29 出版日期:2025-10-25 发布日期:2025-10-20
  • 通讯作者: 张辉，研究方向：机器人视觉检测、深度学习图像识别、智能制造机器人技术及应用。 王耀南，中国工程院院士，研究方向：智能机器感知与控制技术。
  • 基金资助:
    国家自然科学基金重大研究计划(92148204)、国家自然科学基金重点项目(62433010) 

 Research progress of intelligent dual-arm robots and key technologies for pharmaceutical dispensing

 ZHANG Hui①②, KONG Chuiwang①, LI Kang①, CHEN Weili③, CHEN Bo①, FAN Yexin①, JIANG Yiming①, WANG Yaonan①②   

  1. ① School of Robotics, Hunan University, Changsha 410082, China; ② National Engineering Research Center of RVC, Hunan University, Changsha 410082, China; ③ School of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha 410114, China
  • Received:2025-04-29 Online:2025-10-25 Published:2025-10-20

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摘要：  医药行业是关乎国计民生的支柱产业。人工智能等技术的发展促进了智能双臂机器人在制药配药领域的广泛应用。智能双臂机器人为医药生产注入新的活力，但是也面临着问题和挑战。鉴于此，文章综述了智能双臂机器人在制药配药领域的 最新研究进展。首先概述制药配药场景的特殊性、智能双臂机器人系统及其在制药配药中的核心挑战；其次，针对面向制药 配药的智能双臂机器人所面临的瓶颈和挑战，分析与总结智能感知、自主调度、先进控制、具身智能等关键技术；最后，对面向制药配药的智能双臂机器人的未来发展趋势进行展望。

关键词: 智能双臂机器人, 制药配药, 智能感知, 自主规划, 先进控制, 具身智能

Abstract: The pharmaceutical industry is a pillar industry related to the national economy and people＇s livelihood. The development of technologies such as artificial intelligence has promoted the widespread application of intelligent dual-arm robots in the field of pharmaceutical dispensing. Intelligent dual-arm robots have injected new vitality into pharmaceutical production, but they also face problems and challenges. In view of this, the latest research progress of intelligent dual-arm robots in the field of pharmaceutical dispensing is reviewed. The particularity of pharmaceutical dispensing scenarios, intelligent dual-arm robot systems and their core challenges in pharmaceutical dispensing are outlined. In response to the bottlenecks and challenges faced by intelligent dual-arm robots for pharmaceutical dispensing, key technologies such as intelligent perception, autonomous scheduling, advanced control, and embodied intelligence are analyzed and summarized. The future development trend of intelligent dual-arm robots for pharmaceutical dispensing is prospected.

Key words:  , intelligent dual-arm robot, pharmaceutical dispensing, intelligent perception, autonomous planning, advanced control, embodied intelligence

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