2P1-B22 Development and Evaluation Simultaueous Controller of Arm/Body Movement of Underwater Robot with Dual-manipulator

Abstract

In this paper, we develop and evaluate a controller system for UVMSs (Underwater Vehicle-Manipulator System). The joysthicks are mounted on arm control devices. As a result, operator can control arm and main body movement simultaneousty. However, coodinates of the joysthick are chenged. Duaring the operation so that the operability may be getting worse. We evaluate the operability experimentaly when the joysthick confirming that a difficalt-to-operate wrist posture exist. Finally, we demonstrete the simultaneous control using the controller.