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AN ARCHITECTURE FOR SUPERVISING THE TELEMANIPULATION OF AN IAUV-MOUNTED ROBOTIC ARM

A challenging topic in the research of underwater robotics is the development of Intervention Autonomous Underwater Vehicles (IAUVs) that are controlled through an acoustic link. IAUVs should be capable to perform missions using a manipulator arm on deep-sea structures. Such missions require special capabilities like operating in a roughly known environment, which imply a certain degree of autonomy in performing the robotic tasks. A solution is to use the visual servoing at the execution level. Also, due to limitations of the acoustic link, a real video feedback is unrealistic, and thus, a direct telemanipulation (TM) from surface is excluded. Instead, a supervisory control for communicating high level goals from surface to the execution level is used. In this paper the architecture of such a supervision system and its numerical simulation are presented.