A Method for Supervisory Control of Manipulator of Underwater Vehicle

A novel method for supervisory control of multilink manipulators mounted on underwater vehicles is considered. This designed to significantly increase the level automation manipulative operations, by building motion trajectories a manipulator working tool along surfaces work objects basis target indications given operator. achieved as follows: The operator targets camera (with changeable spatial orientation optical axis) vehicle at object, and uses it set one or more point selected object. geometric shape object in area determined using clouds points obtained from technical vision system. Depending task set, are automatically coordinates these lying surfaces. was implemented C++ programming language. graphical interface has also been created that provides rapid testing accuracy overlaying planned mathematically described surface Supervisory an successfully simulated V-REP environment.