The Operational Space Formulation Implementation to Aircraft Canopy Polishing Using a Mobile Manipulator - PowerPoint PPT Presentation

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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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The Operational Space Formulation Implementation to Aircraft Canopy Polishing Using a Mobile Manipulator

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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:


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The Operational Space Formulation (Khatib 1987)

  • 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

  • PUMA 560, a six-axis articulated arm

  • Nomad XR4000, omni-directional holonomic mobile base


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In the aircraft canopy polishing task:

  • 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


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The choice of operational point


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Implementation Principle

  • 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


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The Operational Space Force 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

(6)

(7)

(9)

(8)

(6)

(6)

(10)

(1)


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


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Comparing results with and without friction modeling


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Simultaneous force feedback and errors in motion along x and y


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Force reading as PUMA moves in and out of singularity


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Acknowledgement

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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Video Presentation


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Video Presentation


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