A teleoperating system for underwater manipulator with virtual model aid

Author

Zhang, Ping ; Tanaka, Kensuke ; Shimizu, Etsuro ; Ito, Masanori

Author_Institution

Mech. Eng. Dept., Tokyo Univ. of Mercantile Marine, Japan

Volume

1

fYear

2003

fDate

2-6 Nov. 2003

Firstpage

882

Abstract

This paper explores the use of virtual reality technology to help visualize the remote environment and control the remote underwater robot indirectly. Also an online parameter prediction system is developed to cope with the time delay. The paper consists of two parts: (I) the development of improved virtual model based teleoperating system, and (II) an investigation into the feasibility of the predictor performance. The experimental system is an Internet-based teleoperating system for an underwater 7-axis manipulator. The task of this project is a time-limited task. That is to retrieve and catch a moving target in the water through the tele-operating system.

Keywords

Internet; delays; manipulators; parameter estimation; telerobotics; virtual reality; Internet based teleoperating system; online parameter prediction system; predictor performance; time delay; underwater 7-axis manipulator; underwater manipulator; underwater robot; virtual model aid; virtual reality technology; Computational modeling; Computer graphics; Delay effects; Feedback; Human robot interaction; Imaging phantoms; Internet; Manipulators; Remote monitoring; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE

Print_ISBN

0-7803-7906-3

Type

conf

DOI

10.1109/IECON.2003.1280099

Filename

1280099