Abstract | ||
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Master-slave system is a vital technique for controlling robot motions. An intuitive master controller enables precise and easy control of robot, especially for underwater robotics applications. Most of the commercially available master-slave systems are very complex and expensive, and operators need to receive extensive training before being able to correctly operate the robot. This paper addresses these problems by introducing a simple and intuitive master controller for an experimental semi-autonomous underwater vehicle equipped with 3-link dual-arm. The master controller includes a vehicle main master controller and two units of 3-link manipulator master controller. Moreover, each end-tip of the manipulator master controller is attached with a vehicle sub-master controller that consists of a joystick and tactile switches. These sub-master controllers are designed to control the position and attitude of the vehicle. The ability to simultaneously control two units of 3-link dual-arm and the position and attitude of the vehicle is the uniqueness of the proposed controller. In this work, the design of the developed master controller and the structure of a unilateral master-slave system are presented. The usefulness of the master controller is verified through experiment on controlling an actual dual-arm underwater robot to catch a target object in underwater environment. |
Year | DOI | Venue |
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2015 | 10.1007/s10015-015-0234-9 | Artificial Life and Robotics |
Keywords | DocType | Volume |
Underwater robot, Master-slave, Manipulator, UVMS, Control | Journal | 20 |
Issue | ISSN | Citations |
4 | 1614-7456 | 0 |
PageRank | References | Authors |
0.34 | 5 | 2 |
Name | Order | Citations | PageRank |
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Radzi Bin Ambar | 1 | 1 | 2.09 |
Shinichi Sagara | 2 | 30 | 10.93 |