Journal article

Compliant motion using a mobile manipulator: an operational space formulation approach to aircraft canopy polishing

RS Jamisola, DN Oetomo, MH Ang, O Khatib, TM Lim, SY Lim

ADVANCED ROBOTICS | TAYLOR & FRANCIS LTD | Published : 2005

Abstract

The operational space formulation provides a framework for the analysis and control of robotic systems with respect to interactions with their environments. In this paper, we discuss its implementation on a mobile manipulator programmed to polish an aircraft canopy with a curved surface of unknown geometry. The polishing task requires the robot to apply a specified normal force on the canopy surface while simultaneously performing a compliant motion keeping the surface of the grinding tool tangentially in contact with the workpiece. A human operator controls the mobile base via a joystick to guide the polishing tool to desired areas on the canopy surface, effectively increasing the mobile ma..

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University of Melbourne Researchers