The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator

• Main Authors: Jamisola, Rodrigo S., Jr., Ang, Marcelo H., Jr., Oetomo, Denny, Khatib, Oussama, Tao, Ming Lim, Ser, Yong Lim
• Format: text
• Published: Animo Repository 2002
• Subjects: Manipulators (Mechanism); Robots—Control systems; Robotics
• Online Access: https://animorepository.dlsu.edu.ph/faculty_research/7129
• Institution: De La Salle University

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 floor, 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 and force regulation results are shown.