Un Aplicativo de Realidad Aumentada para Ayuda a la Teleoperación de Manipuladores Submarinos
(An Augmented Reality Application to Assist Teleoperation of Underwater Manipulators)
Edwin Francis Cárdenas (firstname.lastname@example.org)1, Max Suell Dutra (email@example.com)1
1Universidade Federal do Rio de Janeiro
This paper appears in: Revista IEEE América Latina
Publication Date: Feb. 2016
Volume: 14, Issue: 2
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.
Manipulators, augmented reality, software tools, robot kinematics
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