The Operational Space Formulation Implementation to Aircraft Canopy Polishing Using a Mobile Manipulator. Rodrigo Jamisola, Marcelo H. Ang, Jr., Denny Oetomo, Oussama Khatib, Tao Ming Lim, Ser Yong Lim. Acknowledgements:. The Operational Space Formulation (Khatib 1987).
Rodrigo Jamisola, Marcelo H. Ang, Jr., Denny Oetomo,
Oussama Khatib, Tao Ming Lim, Ser Yong Lim
Puma dynamics model derived from Armstrong, Khatib, Burdick 1986 and verified from Jamisola, Ang, Lim, Khatib, Lim 1999
Error response of PUMA in free motion running at maximum speed of 1.9 m/s in Operational Space
Comparing results with and without friction modeling
Simultaneous force feedback and errors in motion along x and y
Force reading as PUMA moves in and out of singularity
Funding this presentation
Prof. Anthony Maciejewski
Where this project was done
Prof. Marcelo H. Ang, Jr.
Consultancy on this project
Prof. Oussama Khatib
Funding for this project
Dr. Ser Yong Lim