DocumentCode
2817459
Title
Development of a Supervisory Manipulator System for A Free-Swimming Submersible
Author
Yoerger, Dana R. ; Sheridan, Thomas B.
Author_Institution
Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA
fYear
1981
fDate
16-18 Sept. 1981
Firstpage
1170
Lastpage
1174
Abstract
Supervisory control has been suggested as a means to improve the capabilities of remotely controlled underwater manipulators. This paper describes the implementation of such a system. The development is part of a joint effort between the Man-Machine Systems Laboratory at MIT and the Naval Ocean Systems Center, San Diego and includes experimentation both in the laboratory and in the water. The system will be used to experimentally investigate man- machine communication concepts and to demonstrate technology of interest to the offshore community.
Keywords
human-robot interaction; manipulators; marine systems; telerobotics; MIT; free swimming submersible; man-machine communication concepts; man-machine systems laboratory; naval ocean systems center; offshore community; remotely controlled underwater manipulators; supervisory control; supervisory manipulation system; Command languages; Communication system control; Control systems; Man machine systems; Manipulators; Marine technology; Mechanical engineering; Oceans; Supervisory control; Underwater vehicles;
fLanguage
English
Publisher
ieee
Conference_Titel
OCEANS 81
Conference_Location
Boston, MA
Type
conf
DOI
10.1109/OCEANS.1981.1151531
Filename
1151531
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