The Operational Space Formulation implementation to aircraft canopy polishing using a mobile manipulator

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.