Motion control of dual-arm long-reach manipulators

Akio Gouo, Dragomir N. Nenchev, Kazuya Yoshida, Masaru Uchiyama

Research output: Contribution to journalArticlepeer-review

9 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 non-contact motion control strategies which are based on the reaction null space concept developed earlier. Experimentalverification 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
Pages (from-to)617-631
Number of pages15
JournalAdvanced Robotics
Volume13
Issue number6
DOIs
Publication statusPublished - 1998 Jan 1

Keywords

  • Flexible base
  • Long-reach manipulator
  • Reaction null space
  • Space robot
  • Vibration suppression

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications

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