Serna, Mariela and Garcia-Valdovinos, Luis G. and Salgado-Jimenez, Tomas and Bandala-Sanchez, Manuel (2016) Bilateral teleoperation of a commercial small-sized underwater vehicle for academic purposes. In: OCEANS 2015 - MTS/IEEE Washington. OCEANS 2015 - MTS/IEEE Washington . Institute of Electrical and Electronics Engineers Inc., USA. ISBN 9780933957435
Full text not available from this repository.Abstract
This paper describes the platform for a bilateral teleoperation where the master is a haptic device and the slave is a commercial small-sized underwater vehicle. The submarine will be instrumented, so that the electronics architecture can be upgrade at any time. With this new architecture it will be possible to program any advanced control scheme an the embedded. Also, position and velocity commands from the haptic interface to the small-sized underwater vehicle, will be send. Such that, when the force sensor, placed in the nose of the underwater vehicle, interacts with the environment, it will measure the force at the slave site and feed back it to the master robot.