A hybrid simulator for undersea robotic telemanipulation

Author

Agba, Emmanuel I. ; Huang, Ming Z. ; Wong, Tin-Lup ; Clark, Andrew M.

Author_Institution

Dept. of Mech. Eng., Florida Atlantic Univ., Boca Raton, FL, USA

fYear

1990

fDate

1-4 Apr 1990

Firstpage

636

Abstract

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

Keywords

digital simulation; marine systems; mobile robots; telecontrol; 3-D computer-based telerobotic manipulator system simulator; 3-D workspace volume; Cartesian space formulations; close-up views; data-driven control; distant views; end-effector systems; high-speed color graphic display; hybrid simulator; joint space; operator training; position-control; rate-control; undersea robotic telemanipulation; zooming; Communication system control; Computational modeling; Computer displays; Computer simulation; Control systems; Manipulators; Orbital robotics; Robot control; Telerobotics; Workstations;

fLanguage

English

Publisher

ieee

Conference_Titel

Southeastcon '90. Proceedings., IEEE

Conference_Location

New Orleans, LA

Type

conf

DOI

10.1109/SECON.1990.117895

Filename

117895