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A MASTER SYSTEM FOR WORKSPACE-OPERATED AND AUTOMATIC CONTROL OF TELE-OPERATED UNDERWATER MANIPULATORS
A MASTER SYSTEM FOR WORKSPACE-OPERATED AND AUTOMATIC CONTROL OF TELE-OPERATED UNDERWATER MANIPULATORS
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机译：遥操作水下机器人的工作空间操作和自动控制的主系统
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摘要
PURPOSE: A master system for driving and automatically controlling the work space of a remote control underwater robot arm is provided to maximize the efficiency of work necessary for repetitive movement about the same posture. CONSTITUTION: A workspace-operated controller(10) controls the joint of whole robot are by commanding the command about a position and a posture of a tool located in end of the arm of a robot area on a working space. An automatic controller(20) automatically controls the posture of the robot arm with only a joint location command. By inputting the command about a location and posture of a end of a area of a slave robot arm, a worker conveniently operates the movement of the robot arm through a joystick command input device(30).
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