A teleoperating system for underwater manipulator with virtual model aid

摘要

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.