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|Title:||The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator||Authors:||Jamisola, R.
Ang Jr., M.H.
|Issue Date:||2002||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.||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.||Source Title:||Proceedings - IEEE International Conference on Robotics and Automation||URI:||http://scholarbank.nus.edu.sg/handle/10635/73942||ISSN:||10504729|
|Appears in Collections:||Staff Publications|
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