Concept evaluation trials of teleoperation system for control of an underwater robotic arm by graphical simulation techniques

摘要

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 drawbacks of this system, a new method of both control and feedback, utilising simulation software developed for off-line programming, is currently under development at Cranfield. 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 thefirst stages of their development and the evaluation experiments which were used to judge the feasibility of the continuance of the project.