A hybrid simulator for undersea robotic telemanipulation

摘要

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.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>