A virtual model based teleoperating system is developed for an underwater robot environment. The emphasis of such a system is the incorporation of a virtual model of the real robot and environment to assist the operator in controlling the underwater robot through Internet. Not only does the virtual model GUI (Graphical User Interface) allows the operator interact with the virtual model by an intelligent mean, but also provide an effective visual display for the real environment. Also an online parameter prediction system is developed to cope with the time delay. Two tasks were realized: (1) the development of improved virtual model based teleoperating system, and (2) an investigation into the feasibility of the predictor performance. The experimental system is an Internet-based teleoperating system for an underwater 7-axis manipulator. The task of this project is a time-limited task. That is to retrieve and catch a moving target in the water through the teleoperating system. The investigation result shows that the algorithm is successfully used to characterize the behaviour of predictor
A teleoperating system for underwater manipulator to practice a time limit task
Ein Fernsteuerungssystem für Unterwasserfahrzeugmanipulatoren für die Behandlung von Zeitbegrenzungen
2003
5 Seiten, 6 Bilder, 5 Quellen
Conference paper
Storage medium
English
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