{"title":"Experimental teleoperation of a dual-arm manipulator mounted on a flexible structure in space","authors":"D. Nenchev, T. Hishinuma","doi":"10.1109/ICIMA.2004.1384219","DOIUrl":null,"url":null,"abstract":"Abstmct- This paper describes an experimental system for teleoperation of a dual-arm manipulator mounted on a flexible base. The manipulators and the base are arranged in the horizontal plane so that gravity forces can be neglected and a long-reach manipulator for space application is envisioned. Based on the Reaction Null Space concept developed previously, we propose several strategies for telecontrol of the dual-arm manipulator and verify their perfomance experimentally.","PeriodicalId":375056,"journal":{"name":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","volume":"4 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-08-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2004 International Conference on Intelligent Mechatronics and Automation, 2004. Proceedings.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICIMA.2004.1384219","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
Abstmct- This paper describes an experimental system for teleoperation of a dual-arm manipulator mounted on a flexible base. The manipulators and the base are arranged in the horizontal plane so that gravity forces can be neglected and a long-reach manipulator for space application is envisioned. Based on the Reaction Null Space concept developed previously, we propose several strategies for telecontrol of the dual-arm manipulator and verify their perfomance experimentally.
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