The Operational Space Formulation Implementation to Aircraft Canopy Polishing using a Mobile Manipulator
نویسندگان
چکیده
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.
منابع مشابه
Compliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing
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