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

2003 ◽  
Author(s):  
R. Jamisola ◽  
M.H. Ang ◽  
D. Oetomo ◽  
O. Khatib ◽  
Tao Ming Lim ◽  
...  
Keyword(s):  
Mobile Manipulator ◽  
Operational Space ◽  
Space Formulation

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

2005 ◽  
Vol 19 (5) ◽  
pp. 613-634 ◽  
Author(s):  
Rodrigo S. Jamisola ◽  
Denny N. Oetomo ◽  
Marcelo H. Ang ◽  
Oussama Khatib ◽  
Tao Ming Lim ◽  
...  
Keyword(s):  
Mobile Manipulator ◽  
Compliant Motion ◽  
Operational Space ◽  
Space Formulation

Distributed Operational Space Formulation of Serial Manipulators

2013 ◽  
Vol 9 (2) ◽  
Author(s):  
Kishor D. Bhalerao ◽  
James Critchley ◽  
Denny Oetomo ◽  
Roy Featherstone ◽  
Oussama Khatib
Keyword(s):  
Parallel Algorithms ◽  
Time Complexity ◽  
Degrees Of Freedom ◽  
Null Space ◽  
Divide And Conquer ◽  
Serial Manipulators ◽  
Divide And Conquer Algorithm ◽  
Operational Space ◽  
Space Formulation ◽  
Space Dynamics

This paper presents a new parallel algorithm for the operational space dynamics of unconstrained serial manipulators, which outperforms contemporary sequential and parallel algorithms in the presence of two or more processors. The method employs a hybrid divide and conquer algorithm (DCA) multibody methodology which brings together the best features of the DCA and fast sequential techniques. The method achieves a logarithmic time complexity (O(log(n)) in the number of degrees of freedom (n) for computing the operational space inertia (Λe) of a serial manipulator in presence of O(n) processors. The paper also addresses the efficient sequential and parallel computation of the dynamically consistent generalized inverse (J¯e) of the task Jacobian, the associated null space projection matrix (Ne), and the joint actuator forces (τnull) which only affect the manipulator posture. The sequential algorithms for computing J¯e, Ne, and τnull are of O(n), O(n2), and O(n) computational complexity, respectively, while the corresponding parallel algorithms are of O(log(n)), O(n), and O(log(n)) time complexity in the presence of O(n) processors.

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