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.