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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).

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Slide1 l.jpg
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 l.jpg
The Operational Space Formulation (Khatib 1987) Canopy Polishing Using a Mobile Manipulator

  • Dynamics formulated in operational space, as seen from point of contact/operation.

  • allows simultaneous force and motion control

    • force is controlled along the directions constrained by the environment

    • motion is controlled in the direction of free motion

  • Task is specified in terms of operational space forces.


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The Mobile Manipulator Canopy Polishing Using a Mobile Manipulator

  • PUMA 560, a six-axis articulated arm

  • Nomad XR4000, omni-directional holonomic mobile base


In the aircraft canopy polishing task l.jpg
In the aircraft canopy polishing task: Canopy Polishing Using a Mobile Manipulator

  • geometry of the canopy is unknown to the robot

  • robot end-effector moves to and fro on the surface of the canopy

  • by compliant motion control, tool complies to the canopy surface

  • force is controlled normal to the canopy surface

  • base is moved via joystick, treated as a disturbance to the polishing task, to cover the whole surface of the canopy


The choice of operational point l.jpg
The choice of operational point Canopy Polishing Using a Mobile Manipulator


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Implementation Principle Canopy Polishing Using a Mobile Manipulator

  • The operator controlling the joystick provide higher level intelligence by moving the mobile base to cover the entire canopy surface

  • Compliant motion control represents lower level intelligence so human operator need not bother with commanding the motion of the polishing tool

  • Normal force maintained at 10  4 N with mobile base moving


The operational space force and motion control l.jpg
The Operational Space Canopy Polishing Using a Mobile ManipulatorForce and Motion Control

(1)

(2)

(3)

(4)

(5)

Puma dynamics model derived from Armstrong, Khatib, Burdick 1986 and verified from Jamisola, Ang, Lim, Khatib, Lim 1999


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Robot Arm Singularity Handling Canopy Polishing Using a Mobile Manipulator

(6)

(7)

(9)

(8)

(6)

(6)

(10)

(1)


Slide9 l.jpg

Error response of PUMA in free motion running at maximum speed of 1.9 m/s in Operational Space


Slide10 l.jpg

Comparing results with and without friction modeling speed of 1.9 m/s in Operational Space




Acknowledgement l.jpg
Acknowledgement y

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




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