The Operational Space Formulation implementation to aircraft canopy polishing using a mobile manipulator

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Author list: Jamisola R, Ang MH, Oetomo D, Khatib O, Lim TM, Lim SY

Publisher: IEEE

Place: NEW YORK

Publication year: 2002

Start page: 400

End page: 405

Number of pages: 6

ISBN: 0-7803-7272-7

Languages: English-Great Britain (EN-GB)

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Abstract

The Operational Space Formulation provides a framework for the analysis and control of manipulator systems with respect to the behavior of their end-effectors. Its application to aircraft canopy polishing is shown using a mobile manipulator. The mobile manipulator end-effector maintains a desired force normal to the canopy surface of unknown geometry in doing a compliant polishing motion, while, at the same time, its mobile base moves around the. shop floors effectively increasing the mobile manipulator's workspace. The mobile manipulator consists of a PUMA 560 mounted on top of a Nomad XR4000. Implementation issues are discussed and simultaneous motion force regulation results are shown.

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