The operational space formulation implementation to aircraft canopy polishing using a mobile manipulator

Rodrigo Jamisola, Marcelo H. Ang, Denny Oetomo, Oussama Khatib, Tao Ming, Ser Yong Lim

Research output: Contribution to journalArticle

15 Citations (Scopus)


The Operational Space Formulation provides 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.

Original languageEnglish
Pages (from-to)400-405
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Publication statusPublished - Jan 1 2002


All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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