The paper introduces a bimanual teleoperation framework for controlling a light-duty underwater vehicle-manipulator system (UVMS). The key highlights are:
The framework allows for the control of the vehicle, two manipulators, and their end-effectors using two low-cost haptic devices.
The UVMS kinematics are derived to create an independent resolved motion rate controller for each manipulator, which optimally controls the joint positions to achieve a desired end-effector pose.
The teleoperation controller processes the dual haptic device input from the user to compute the desired end-effector poses in real-time.
The framework is implemented in a physics-based simulation environment, where two example tasks are demonstrated:
The framework code is available as open-source, allowing researchers to easily adapt it to their own UVMS designs.
The proposed framework aims to lower the barrier to entry in underwater manipulation research by providing a user-friendly, low-cost teleoperation solution for light-duty UVMS platforms.
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by Justin Sitle... at arxiv.org 04-08-2024
https://arxiv.org/pdf/2404.03790.pdfDeeper Inquiries