Study Of Simulation Technology Of The Teleoperating Underwater Manipulator

A virtual environment is built by simulation technology in computer. Then the controller can use the manipulator in the virtual environment (it' s virtual model) to control the remote manipulator The controller can watch the simulation picture clearly , so can easily control it. And so a teleoperating underwater working manipulator is realized.This paper introduces the underwater work system including SIWR-II type of manipulator and the auto tool kit, the backward solution of dynamics of the manipulator is put forward, that is to say, analytic expression of the switch angles of the three joints is brought forward. Then path planning method of the manipulator is illuminated in theory. Based on the grid expansion method we give three planning algorithms. At last, we built the geometrical model and dynamic model of the manipulator by using Boundary representation scheme (B-rep) of method of computer graphics and using the computer language of Visual C++. It is finished that the simulation software of the manipulator, auto tool kit and auto exchange tools by using Visual C++ and Open GL, and a experimental system of the teleoperating underwater manipulator is set up and the experiment is finished, that establishes the foundation of the teleoperation.