@article{033cc65900be43f990591bff0565fcbb,
title = "Motion control of dual-arm long-reach manipulators",
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.",
keywords = "Flexible base, Long-reach manipulator, Reaction null space, Space robot, Vibration suppression",
author = "Akio Gouo and Nenchev, {Dragomir N.} and Kazuya Yoshida and Masaru Uchiyama",
note = "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.",
year = "1998",
month = jan,
day = "1",
doi = "10.1163/156855399X01846",
language = "English",
volume = "13",
pages = "617--631",
journal = "Advanced Robotics",
issn = "0169-1864",
publisher = "Taylor and Francis Ltd.",
number = "6",
}