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
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;
Conference_Titel :
OCEANS 81
Conference_Location :
Boston, MA
DOI :
10.1109/OCEANS.1981.1151531
