Please use this identifier to cite or link to this item:
https://scholarbank.nus.edu.sg/handle/10635/73942
DC Field | Value | |
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dc.title | The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator | |
dc.contributor.author | Jamisola, R. | |
dc.contributor.author | Ang Jr., M.H. | |
dc.contributor.author | Oetomo, D. | |
dc.contributor.author | Khatib, O. | |
dc.contributor.author | Ming, T. | |
dc.contributor.author | Lim, S.Y. | |
dc.date.accessioned | 2014-06-19T05:41:13Z | |
dc.date.available | 2014-06-19T05:41:13Z | |
dc.date.issued | 2002 | |
dc.identifier.citation | Jamisola, R.,Ang Jr., M.H.,Oetomo, D.,Khatib, O.,Ming, T.,Lim, S.Y. (2002). The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator. Proceedings - IEEE International Conference on Robotics and Automation 1 : 400-405. ScholarBank@NUS Repository. | |
dc.identifier.issn | 10504729 | |
dc.identifier.uri | http://scholarbank.nus.edu.sg/handle/10635/73942 | |
dc.description.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 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. | |
dc.source | Scopus | |
dc.type | Conference Paper | |
dc.contributor.department | MECHANICAL ENGINEERING | |
dc.description.sourcetitle | Proceedings - IEEE International Conference on Robotics and Automation | |
dc.description.volume | 1 | |
dc.description.page | 400-405 | |
dc.description.coden | PIIAE | |
dc.identifier.isiut | NOT_IN_WOS | |
Appears in Collections: | Staff Publications |
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