An Augmented Reality Application to Assist Teleoperation of Underwater Manipulators

摘要

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.