{"title":"Remote Operation with Haptic Force and Virtual Proxy for an Underwater Vehicle-Manipulator System","authors":"Jin Ma, Yu Wang, Rui Wang, Shuo Wang","doi":"10.1109/DDCLS52934.2021.9455502","DOIUrl":null,"url":null,"abstract":"This paper aims to investigate a smooth teleoperation method for the underwater vehicle-manipulator system. First, a coordinated mapping control method for the vehicle is presented. The haptic force is considered to help assist the operation. Then, two mapping modes are used to teleoperate the manipulator: when the end-effector needs to move in a large area, two virtual points and a spring-damping system are implemented to filter the operator's hand jitter and limit the manipulator's speed; when the end-effector needs to move in a small area, a position increment control method with a small proportional coefficient is used to improve the precision. Finally, the simulation demonstrates the effectiveness of the proposed teleoperation method.","PeriodicalId":325897,"journal":{"name":"2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2021-05-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 IEEE 10th Data Driven Control and Learning Systems Conference (DDCLS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/DDCLS52934.2021.9455502","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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Abstract
This paper aims to investigate a smooth teleoperation method for the underwater vehicle-manipulator system. First, a coordinated mapping control method for the vehicle is presented. The haptic force is considered to help assist the operation. Then, two mapping modes are used to teleoperate the manipulator: when the end-effector needs to move in a large area, two virtual points and a spring-damping system are implemented to filter the operator's hand jitter and limit the manipulator's speed; when the end-effector needs to move in a small area, a position increment control method with a small proportional coefficient is used to improve the precision. Finally, the simulation demonstrates the effectiveness of the proposed teleoperation method.
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