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.
|Number of pages||6|
|Publication status||Published - 1998|
|Event||Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3) - Victoria, Can|
Duration: 1998 Oct 13 → 1998 Oct 17
|Conference||Proceedings of the 1998 IEEE/RSJ International Conference on Intelligent Robots and Systems. Part 1 (of 3)|
|Period||98/10/13 → 98/10/17|