Title :
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
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;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724660
