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 (ecarbrasil@gmail.com)1, Max Suell Dutra (max@mecanica.coppe.ufrj.br)1


1Universidade Federal do Rio de Janeiro

This paper appears in: Revista IEEE América Latina

Publication Date: Feb. 2016
Volume: 14,   Issue: 2 
ISSN: 1548-0992


Abstract:
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.

Index Terms:
Manipulators, augmented reality, software tools, robot kinematics   


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