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.


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    Titel :

    A hybrid simulator for undersea robotic telemanipulation


    Weitere Titelangaben:

    Ein Hybrid-Simulator für ferngesteuerte Unterwasser-Roboter


    Beteiligte:
    Agba, E.I. (Autor:in) / Huang, M.Z. (Autor:in) / Wong, T.L. (Autor:in) / Clark, A.M. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1990


    Format / Umfang :

    6 Seiten, 9 Quellen


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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