Abstract
Underwater robot teleoperation plays a crucial role in underwater tasks, but underwater teleoperation systems often employ master-slave heterogeneous structures, which undoubtedly introduces more difficulties and challenges for workspace and operation precision. In light of this, this paper proposes a force-feedback-based hybrid workspace mapping method applicable to underwater teleoperation systems. First, we design a force-feedback-based hybrid workspace mapping method and conduct various simulation tests and analyses. The results demonstrate that the method can effectively enhance the spatial breadth and operational accuracy of teleoperation. Subsequently, we construct an underwater teleoperation digital twin platform to implement underwater target grasping tasks, which yield satisfactory results. Moreover, the digital twin platform established in this paper can better mitigate the effects of communication latency and underwater environmental interference on operations, making it more conducive to the implementation of underwater teleoperation tasks and reducing the burden on operators.
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Yang, X., Gao, J., Zhang, H., Chen, Y., Guo, J., Su, S. (2023). A Hybrid Workspace Mapping Method Based on Force Feedback for Underwater Teleoperation Systems. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14273. Springer, Singapore. https://doi.org/10.1007/978-981-99-6498-7_28
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DOI: https://doi.org/10.1007/978-981-99-6498-7_28
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