TY - CONF
T1 - Dual-arm long-reach manipulators
T2 - Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)
AU - Gouo, A.
AU - Nenchev, D. N.
AU - Yoshida, K.
AU - Uchiyama, M.
N1 - Funding Information:
Dragomir N. Nenchev received the BEng degree in Computer Science, and MEng and PhD degrees in Robotics from the Higher Institute of Electrical and Mechanical Engineering (now Technical University) of Sofia, Bulgaria in 1979, 1981 and 1985, respectively. From 1986 to 1994 he was a faculty member of the Robotics Department at the same institution. From 1994 to 1997 he was an Associate Professor at the Department of Aeronautics and Space Engineering of Tohoku University, Japan. From 1997 to 1999 he was a Professor at the Department of Mechanical and Production Engineering of Niigata University, Japan. He is now Professor at the Department of Intelligent Machines and System Engineering, Hirosaki University, Japan. He was also a Visiting Researcher at the Department of Mechanical Engineering Science, Tokyo Institute of Technology, Japan, from March 1988 to March 1989 and at the Mechanical Department of Milan Polytechnic, Italy, from 1992 to 1993. His research interests include kinematics, dynamics and motion control of underactuated, parallel and redundant robot systems.
PY - 1998
Y1 - 1998
N2 - 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.
AB - 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.
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M3 - Paper
AN - SCOPUS:0032309111
SP - 449
EP - 454
Y2 - 13 October 1998 through 17 October 1998
ER -