An Augmented Reality Application to Assist Teleoperation of Underwater Manipulators

Teleoperation of manipulators in harsh environments usually is considered a difficult task due the lack of sufficient visual feedback for the human operator. This paper presents an augmented reality system that has been developed to anticipate viable configuration for a set of desired grasping of en...

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Bibliographic Details
Published in:Revista IEEE América Latina 2016-02, Vol.14 (2), p.863-869
Main Authors: Cardenas, Edwin Francis, Dutra, Max Suell
Format: Article
Language:English
Subjects:
Augmented reality
Control systems
Fasteners
Grasping
Inverse kinematics
Manipulators
Matlab
Remotely operated vehicles
Robot arms
Robot kinematics
Software
software tools
Visualization
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Summary:Teleoperation of manipulators in harsh environments usually is considered a difficult task due the lack of sufficient visual feedback for the human operator. This paper presents an augmented reality system that has been developed to anticipate viable configuration for a set of desired grasping of end effector. An adequate inverse kinematics analysis is provided for the case of study of a traditional six degree freedom manipulator mounted on work class ROVs (remotely operated underwater vehicles). The computational application, developed under C++ with MATLAB interaction, shows a promising result towards the support of future ROV missions, and likewise the rapidly test of telerobotics control systems for research purposes.
ISSN:1548-0992
1548-0992
DOI:10.1109/TLA.2016.7437233