Motion control of dual-arm long-reach manipulators

摘要

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. 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: Long-reach manipulatorflexible basereaction null spacevibration suppressionspace robot