A hybrid simulator for undersea robotic telemanipulation
A hybrid simulator for undersea robotic telemanipulation
- New search for: Agba, E.I.
- New search for: Huang, M.Z.
- New search for: Wong, T.L.
- New search for: Clark, A.M.
- New search for: Agba, E.I.
- New search for: Huang, M.Z.
- New search for: Wong, T.L.
- New search for: Clark, A.M.
The development of a 3-D computer-based telerobotic manipulator system simulator suitable for studying and implementing different modes of robotic control operations and end-effector systems is described. Three types of manipulator control operations, namely, rate-control, position-control and data-driven control in both the joint space and Cartesian space formulations, were implemented. The end-effector systems that were implemented include interchangeable end-effector systems. The computer-based simulator is designed in 3-D workspace volume with a high-speed color graphic display and the capability of zooming in or out for close-up or distant views of the worksite from any desired orientation. This makes the simulator particularly suitable for training operators of undersea remotely operated vehicle (ROV) systems.
Document information
A hybrid simulator for undersea robotic telemanipulation
Ein Hybrid-Simulator für ferngesteuerte Unterwasser-Roboter
SOUTHEASTCON '90. Proceedings ; 2 ; 636-641
1990
6 Seiten, 9 Quellen
Conference paper
English
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