Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation: An Application to Aircraft Canopy Polishing

Denny Oetomo; Marcelo H. Ang; Rodrigo Jamisola; Oussama Khatib

doi:10.1007/978-3-7091-2552-6_22

Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation: An Application to Aircraft Canopy Polishing

Denny Oetomo, Marcelo H. Ang, Rodrigo Jamisola, Oussama Khatib

Mechanical, Energy & Industrial Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter (peer-reviewed) › peer-review

Abstract

A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement force and motion control with dynamic compensation, a torque-controlled system is necessary. However, a torque-controlled robot is not always available. In fact, most commercially available mobile bases are velocity-controlled. This paper presents a method for combining a torque-controlled arm and a velocity-controlled base, while performing a force and motion task. The operational space formulation using a consistent set of integrated arm-base robot dynamics is employed in a mobile manipulation task of polishing an aircraft canopy. The torque controlled arm compensates for the dynamics introduced by the mobile base. The added mobility of the base enables the arm to cover the entire workspace.

Original language	English
Title of host publication	International Centre for Mechanical Sciences
Subtitle of host publication	Courses and Lectures
Editors	G. Bianchi, JC Guinot, C Rzymkowski
Place of Publication	Vienna
Publisher	Springer Nature
Pages	189-199
ISBN (Electronic)	978-3-7091-2552-6
ISBN (Print)	978-3-7091-2554-0
DOIs	https://doi.org/10.1007/978-3-7091-2552-6_22
Publication status	Published - 2002

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Oetomo, D., Ang, M. H., Jamisola, R., & Khatib, O. (2002). Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation: An Application to Aircraft Canopy Polishing. In G. Bianchi, JC. Guinot, & C. Rzymkowski (Eds.), International Centre for Mechanical Sciences : Courses and Lectures (pp. 189-199). Springer Nature. https://doi.org/10.1007/978-3-7091-2552-6_22

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title = "Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation: An Application to Aircraft Canopy Polishing",

abstract = "A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement force and motion control with dynamic compensation, a torque-controlled system is necessary. However, a torque-controlled robot is not always available. In fact, most commercially available mobile bases are velocity-controlled. This paper presents a method for combining a torque-controlled arm and a velocity-controlled base, while performing a force and motion task. The operational space formulation using a consistent set of integrated arm-base robot dynamics is employed in a mobile manipulation task of polishing an aircraft canopy. The torque controlled arm compensates for the dynamics introduced by the mobile base. The added mobility of the base enables the arm to cover the entire workspace.",

author = "Denny Oetomo and Ang, {Marcelo H.} and Rodrigo Jamisola and Oussama Khatib",

year = "2002",

doi = "10.1007/978-3-7091-2552-6_22",

language = "English",

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pages = "189--199",

editor = "G. Bianchi and JC Guinot and C Rzymkowski",

booktitle = "International Centre for Mechanical Sciences",

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address = "United States",

}

Oetomo, D, Ang, MH, Jamisola, R & Khatib, O 2002, Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation: An Application to Aircraft Canopy Polishing. in G Bianchi, JC Guinot & C Rzymkowski (eds), International Centre for Mechanical Sciences : Courses and Lectures. Springer Nature, Vienna, pp. 189-199. https://doi.org/10.1007/978-3-7091-2552-6_22

Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation: An Application to Aircraft Canopy Polishing. / Oetomo, Denny; Ang, Marcelo H.; Jamisola, Rodrigo et al.
International Centre for Mechanical Sciences : Courses and Lectures. ed. / G. Bianchi; JC Guinot; C Rzymkowski. Vienna: Springer Nature, 2002. p. 189-199.

Research output: Chapter in Book/Report/Conference proceeding › Chapter (peer-reviewed) › peer-review

TY - CHAP

T1 - Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation

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AU - Oetomo, Denny

AU - Ang, Marcelo H.

AU - Jamisola, Rodrigo

AU - Khatib, Oussama

PY - 2002

Y1 - 2002

N2 - A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement force and motion control with dynamic compensation, a torque-controlled system is necessary. However, a torque-controlled robot is not always available. In fact, most commercially available mobile bases are velocity-controlled. This paper presents a method for combining a torque-controlled arm and a velocity-controlled base, while performing a force and motion task. The operational space formulation using a consistent set of integrated arm-base robot dynamics is employed in a mobile manipulation task of polishing an aircraft canopy. The torque controlled arm compensates for the dynamics introduced by the mobile base. The added mobility of the base enables the arm to cover the entire workspace.

AB - A mobile manipulation system often involves combining more than one robot together, typically a manipulator arm and a mobile base. To implement force and motion control with dynamic compensation, a torque-controlled system is necessary. However, a torque-controlled robot is not always available. In fact, most commercially available mobile bases are velocity-controlled. This paper presents a method for combining a torque-controlled arm and a velocity-controlled base, while performing a force and motion task. The operational space formulation using a consistent set of integrated arm-base robot dynamics is employed in a mobile manipulation task of polishing an aircraft canopy. The torque controlled arm compensates for the dynamics introduced by the mobile base. The added mobility of the base enables the arm to cover the entire workspace.

U2 - 10.1007/978-3-7091-2552-6_22

DO - 10.1007/978-3-7091-2552-6_22

M3 - Chapter (peer-reviewed)

SN - 978-3-7091-2554-0

SP - 189

EP - 199

BT - International Centre for Mechanical Sciences

A2 - Bianchi, G.

A2 - Guinot, JC

A2 - Rzymkowski, C

PB - Springer Nature

CY - Vienna

ER -

Integration of Torque Controlled Arm with Velocity Controlled Base for Mobile Manipulation: An Application to Aircraft Canopy Polishing

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