ARMS: A Proven, Remotely Operated Manipulator System Ready Now to Support Offshore Drilling in Depths to 13,000 Feet

Author

Collins, Charles L.

Author_Institution

Oceaneering Int., Inc., Houston, TX, USA

fYear

1981

fDate

16-18 Sept. 1981

Firstpage

1165

Lastpage

1167

Abstract

The purpose of this paper is to provide insight into the development of a technology which allows remote operation of "ARMS", a sophisticated force- feedback manipulator system, when interfaced with any one of a broad range of commercially available unmanned submersibles. The technology allows high speed multiplexing of all transmitted information over a significant length of umbilical cable, without degradation of manipulator operation. This paper will discuss the specific design considerations of the ARMS Multiplex System. The paper will conclude that the data from these fore-mentioned sources demonstrates the success of this technological development and its immediate avail- ability for offshore applications.

Keywords

drilling (geotechnical); force feedback; industrial manipulators; offshore installations; remotely operated vehicles; underwater vehicles; ARMS multiplex system; force feedback manipulator system; offshore drilling; remotely operated manipulator system; umbilical cable; unmanned submersibles; Arm; Drilling; Force control; Marine technology; Master-slave; Petroleum; Remotely operated vehicles; Umbilical cable; Underwater vehicles; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 81

Conference_Location

Boston, MA

Type

conf

DOI

10.1109/OCEANS.1981.1151535

Filename

1151535