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Issue No. 01 - January (1995 vol. 15)
ISSN: 0272-1716
pp: 24-31
ABSTRACT
SeaMaster is a software package developed for computer-assisted telemanipulation to upgrade the man/machine interface of the traditional direct telemanipulation. Some features implemented for realistic simulation and actual teleoperation include the capabilities for collision detection, force reflection, and pick- and-place operations. The movement of the actual and simulated manipulators can be controlled separately or simultaneously using a rate-control or master-slave control modes of operation. These were implemented by interfacing actual control devices to the computer. A data-driven control mode is also implemented by solving the manipulator inverse kinematics in closed-form. Although designed for underwater telemanipulators, SeaMaster can be used for supervisory control of standalone robotic systems and to provide embedded training for teleoperators.
INDEX TERMS
robot, telemanipulation, teleoperation, simulation, force feedback, training, collision detection
CITATION
Emmanuel I. Agba, "SeaMaster: An ROV-Manipulator System Simulator", IEEE Computer Graphics and Applications, vol. 15, no. , pp. 24-31, January 1995, doi:10.1109/38.364959
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