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Transactions of the Institute of Measurement and Control
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Concept evaluation trials of teleoperation system for control of an underwater robotic arm by graphical simulation techniques

B.G. Boyle

The Marine Technology Dept, Cranfield University, Bedfordshire, MK43 0AL. UK

R.S. McMaster

The Marine Technology Dept, Cranfield University, Bedfordshire, MK43 0AL. UK

J.H. Nixon

The Marine Technology Dept, Cranfield University, Bedfordshire, MK43 0AL. UK

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.

Key Words: Manipulators • underwater real time simulation • off-line programming

Transactions of the Institute of Measurement and Control, Vol. 17, No. 5, 242-250 (1995)
DOI: 10.1177/014233129501700504
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