A wide variety of difficult undersea tasks are currently being performed by telerobotic devices. Originally, these devices were remotely operated machines with little or no robotic qualities. These vehicles are beginning to employ sophisticated automatic controls and dexterous manipulators. This paper reviews recent progress of these devices and describes new methodology. Closed-loop control techniques are described that produce predictable performance, despite nonlinearities and dynamic uncertainty. Supervisory control elements that allow the human operator and computer system to jointly direct the movements of the system also are outlined. Finally, prospects for autonomous underwater vehicles are discussed.
Telerobots for deep ocean exploration
Teleroboter fuer die Tiefseeforschung
Technical Paper. Society of Manufacturing Engineers ; Sep ; 1-12
1986
12 Seiten, 5 Bilder, 14 Quellen
Conference paper
English
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