Dual-arm long-reach manipulators: noncontact motion control strategies

Abstract

This work reports progress on a long-reach manipulator project. The original single-arm manipulator was complemented with an identical second arm. W e introduce several noncontact motion control strategies which are based on the reaction null space concept developed earlier. Experimental verification of disturbance compensation control via a single arm, and via the two arms while holding an object, is done. Also, motion feasibility on reactionless paths f o r a closed kinematic chain, including the two arms and the object, is examined.

DOI: 10.1109/IROS.1998.724660

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Cite this paper

@inproceedings{Gouo1998DualarmLM, title={Dual-arm long-reach manipulators: noncontact motion control strategies}, author={Akio Gouo and Dragomir N. Nenchev and Kazuya Yoshida and Masaru Uchiyama}, booktitle={IROS}, year={1998} }