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
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