Teleoperation of an underwater robotic repair system using graphical simulation

Abstract

In the main, the current control method for underwater manipulators involves a master slave robot configuration combined with visual feedback provided by closed circuit TV from a number of ROV mounted cameras. In order to overcome the various telepresence and operational drawbacks of this system, a new method of both control and feedback, utilising simulation software developed for offline programming, is currently under development. This paper describes these new methods, and summarises the need for them and their inherent advantages over current technology. It also includes a description of the first stages of their development and the evaluation experiments which were used to judge the feasibility of the continuance of the project. >