Workspace control system of underwater tele-operated manipulators on ROVs

  title={Workspace control system of underwater tele-operated manipulators on ROVs},
  author={Bong-Huan Jun and Hyungwon Shim and Pan-Mook Lee and Hyuk Baek and Seungkwon Cho and D. J. Kim},
  journal={OCEANS 2009-EUROPE},
This paper considers the problem to increase working efficiency of tele-operated underwater manipulation by assisting human operator to reduce a burden in controlling manipulator precisely. A new workspace-control system composed of a computer and an input device for the velocity command in workspace was developed to support the operator. The velocity references commanded in workspace are transformed to the joint references by solving the inverse kinematics of the slave manipulators. The joint… CONTINUE READING
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, " A Kinematic Notation for Lower - Pair Mechanisms Based on Matrices

  • Denavit, R. S. Hartenberg
  • Journal of Applied Mechanics , Trans . Of the…

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