Motion control of dual-arm long-reach manipulators

This work reports progress on a long-reach manipulator project. The origina l 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 verificatio n of disturbance compensation control via a single arm, and via the two arm s while holding an object, is done. Also, motion feasibility on reactionles s paths for a closed kinematic chain, including the two arms and the object , is examined.