Dual-arm long-reach manipulators: Noncontact motion control strategies

被引：0
|
作者：
Gouo, A [1 ]
Nenchev, DN [1 ]
Yoshida, K [1 ]
Uchiyama, M [1 ]
机构：
[1] Tohoku Univ, Dept Aeronaut & Space Engn, Aoba Ku, Sendai, Miyagi 9808579, Japan
来源：
1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：449 / 454
页数：6
相关论文
共 50 条
  • [1] Motion control of dual-arm long-reach manipulators
    Gouo, A
    Nenchev, DN
    Yoshida, K
    Uchiyama, M
    ADVANCED ROBOTICS, 2000, 13 (06) : 617 - 631
  • [2] ADAPTIVE-CONTROL STRATEGIES FOR COOPERATIVE DUAL-ARM MANIPULATORS
    SERAJI, H
    JOURNAL OF ROBOTIC SYSTEMS, 1987, 4 (05): : 653 - 684
  • [3] Constrained Design Optimization of a Long-Reach Dual-Arm Aerial Manipulator for Maintenance Tasks
    Nekoo, Saeed Rafee
    Suarez, Alejandro
    Acosta, Jose Angel
    Heredia, Guillermo
    Ollero, Anibal
    2023 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS, ICUAS, 2023, : 281 - 288
  • [4] A Manipulation Motion Planner for Dual-Arm Industrial Manipulators
    Harada, Kensuke
    Tsuji, Tokuo
    Laumond, Jean-Paul
    2014 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2014, : 928 - 934
  • [5] LONG-REACH MANIPULATORS FOR DECOMMISSIONING
    WEBSTER, DA
    CHALLINOR, SF
    NUCLEAR ENERGY-JOURNAL OF THE BRITISH NUCLEAR ENERGY SOCIETY, 1993, 32 (03): : 173 - 176
  • [6] On the workspace of dual-arm manipulators
    Du, Beiwei
    Chengdu Kejidaxue Xuebao/Journal of Chengdu University of Science and Technology, 1600, (06):
  • [7] Robust control of planar dual-arm cooperative manipulators
    Liu, JF
    Abdel-Malek, K
    ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2000, 16 (2-3) : 109 - 119
  • [8] A systematic review on cooperative dual-arm manipulators: modeling, planning, control, and vision strategies
    Abbas, Mohamed
    Narayan, Jyotindra
    Dwivedy, Santosha K.
    INTERNATIONAL JOURNAL OF INTELLIGENT ROBOTICS AND APPLICATIONS, 2023, 7 (04) : 683 - 707
  • [9] A systematic review on cooperative dual-arm manipulators: modeling, planning, control, and vision strategies
    Mohamed Abbas
    Jyotindra Narayan
    Santosha K. Dwivedy
    International Journal of Intelligent Robotics and Applications, 2023, 7 : 683 - 707
  • [10] A Nonlinear Optimal Control Approach for Dual-Arm Robotic Manipulators
    Rigatos, G.
    Abbaszadeh, M.
    Busawon, K.
    Pomares, J.
    INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, 2025, 22 (01)
12345