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

Author

Gouo, A. ; Nenchev, D.N. ; Yoshida, K. ; Uchiyama, M.

Author_Institution

Dept. of Aeronaut. & Space Eng., Tohoku Univ., Sendai, Japan

Volume

1

fYear

1998

fDate

13-17 Oct 1998

Firstpage

449

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. 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

Keywords

manipulator kinematics; motion compensation; stability; closed kinematic chain; disturbance compensation control; dual-arm long-reach manipulators; dual-arm micro subsystem; macro-micro manipulator system; motion feasibility; multiarm micro subsystem; multiple-arm micro subsystem; noncontact motion control strategies; reaction null space; reactionless paths; Arm; Gravity; Kinematics; Manipulators; Motion control; Null space; Orbital robotics; Production engineering; Radioactive pollution; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on

Conference_Location

Victoria, BC

Print_ISBN

0-7803-4465-0

Type

conf

DOI

10.1109/IROS.1998.724660

Filename

724660