SeaMaster: an ROV-manipulator system simulator

Author

Agba, Emmanuel I.

Author_Institution

Mississippi State Univ., MS, USA

Volume

15

Issue

1

fYear

1995

fDate

1/1/1995 12:00:00 AM

Firstpage

24

Lastpage

31

Abstract

In the absence of fully autonomous robots, manipulators operated by a person at a distance are used to carry out tasks in remote and/or hostile environments. SeaMaster software upgrades the human-machine interface of telemanipulators by letting operators control the actual and simulated manipulators either separately or simultaneously. It includes a data-driven control mode. In contrast to direct teleoperation, where the operator directly controls the telemanipulator and uses only video displays for feedback, the computer offers a means of automatically generating joint commands and uncoupling undesired motions of the ROV. The paper describes how the SeaMaster project achieved these goals through computer simulation. The simulator was designed to study the complex motions of an underwater remotely operated vehicle-manipulator system

Keywords

digital simulation; manipulators; marine systems; naval engineering computing; telerobotics; user interfaces; ROV-manipulator system simulator; SeaMaster; automatically generating joint commands; computer simulation; data-driven control mode; fully autonomous robots; hostile environments; human-machine interface; manipulators; remote environments; remotely operated vehicle-manipulator system; simulated manipulators; telemanipulators; underwater ROV-manipulator system; video displays; Automatic control; Automatic generation control; Computational modeling; Computer displays; Feedback; Man machine systems; Manipulators; Motion control; Remotely operated vehicles; Robots;

fLanguage

English

Journal_Title

Computer Graphics and Applications, IEEE

Publisher

ieee

ISSN

0272-1716

Type

jour

DOI

10.1109/38.364959

Filename

364959