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

A. Gouo, D. N. Nenchev, K. Yoshida, Masaru Uchiyama

Research output: Contribution to conferencePaper

4 Citations (Scopus)

Abstract

This work reports progress on a long-reach manipulator project. The original single-arm manipulator was complemented with an identical second arm. We 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 for a closed kinematic chain, including the two arms and the object, is examined.

Original languageEnglish
Pages449-454
Number of pages6
Publication statusPublished - 1998 Dec 1
EventProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can
Duration: 1998 Oct 131998 Oct 17

Other

OtherProceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
CityVictoria, Can
Period98/10/1398/10/17

ASJC Scopus subject areas

  • Control and Systems Engineering

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    Gouo, A., Nenchev, D. N., Yoshida, K., & Uchiyama, M. (1998). Dual-arm long-reach manipulators: Noncontact motion control strategies. 449-454. Paper presented at Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3), Victoria, Can, .