A training and control system has been initialized for an underwater robotics vehicle (URV). The topside controllers linked through Internet/User Datagram Protocol consist of the operator control panel, dynamic module and 3D virtual display developed using LabVIEW and WorldToolKit. It is well known that force feedback can be employed to enhance the touch perception in the virtual environment (VE). The paper presents the control strategy of force feedback using a commercially inexpensive force feedback joystick and its implementation in LabVIEW. The pilot can steer and guide the vehicle using the joystick with two basic behavior force modes, namely joystick based behavioral effects and vehicle dynamic based behavioral effects. When the vehicle in the virtual environment approaches an obstacle, the operator can experience a "wall" force that will prevent the vehicle from collision. However, in the event of collision, either due to the operator's mishandling or unknown water current interference, a vibration force is used to simulate this event. All these force effects are generated to enhance haptic perceptions for the operator in the real underwater environment while interacting with the simulation. The paper gives the interface design of joystick force functions in LabVIEW environment. Instead of hardwired control consoles, LabVIEW based user interfaces have been developed in the URV topside control system because LabVIEW is a powerful graphical language with friendly human interaction where prototyping and modification are easy and flexible.
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