An overall concept and specific system elements for teleoperated vehicles and manipulators are presented. The approach emphasizes continuous, real-time sharing of control between both the human operator and the computer system and is intended for application to the JASON underwater vehicle now in development. As JASON will have extremely high communications bandwidth available through a fiber optic cable, the emphasis will be on aiding and extending the capabilities of the human operator. Specific elements presented include task-resolved motion specification, rule-based inverse kinematics, and robust and adaptive nonlinear tracking control.


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    Title :

    Supervisory control architecture for underwater teleoperation


    Additional title:

    Architektur der Ueberwachungssteuerung fuer Unterwasser-Teleoperation


    Contributors:


    Publication date :

    1987


    Size :

    6 Seiten, 4 Bilder, 14 Quellen



    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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