Cartesian teleoperation of underwater manipulators using floating handle input devices

Manipulators employed in the offshore industry are typically driven by master arms. Although these input devices only require simple algorithms to control the manipulator, as scaled down models of the manipulator they can provide to the operator only approximate control of its end effector. Their mechanical linkages contribute to poor ergonomics, often calling for two handed maneuvering. If available, re-indexing destroys their ability to afford configuration feedback and freeze facilities can result in large uncontrolled movements when released. The author looks at how advances in position sensing technology and cartesian space control strategies may yield benefits in operator control, working environment and efficiency, specifically considering floating handle input devices