The Operational Space Formulation Implementation to Aircraft Canopy Polishing using a Mobile Manipulator

The Operational Space Formulation creates 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.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Rodrigo S. Jamisola, Marcelo H. Ang, Denny Oetomo, Oussama Khatib, Tao Ming Lim, Ser Yong Lim
• Keywords: ICRA 2002, Mobile Manipulator, Mobile Manipulator End-effector, Mobile Manipulator Workspace, Robotics