DocumentCode :
2351442
Title :
Task enhancement of an underwater robotic arm by graphical simulation techniques
Author :
McMaster, R.S. ; Nixon, J.H. ; Boyle, B.G. ; Fouchier, D.
Author_Institution :
Marine Technol. Centre, Cranfield Univ., Bedford, UK
Volume :
2
fYear :
1994
fDate :
13-16 Sep 1994
Abstract :
A novel means of piloting an underwater robotic arm by using a computer generated dynamic image of the marine worksite is described. It is intended to use this technique for deep water welding repair schemes and it is envisaged that such a system would operate without the assistance of divers. Ultimately, the system would have the capability to carry out the complete intervention process, from detrenching a pipeline to final inspection and corrosion protection. With knowledge of both the robotic arm and worksite geometries a kinematic model can be built using a computer based simulation and off-line programming system. It is this 3-dimensional solid modelling system which is then used to provide the “visual” feedback to the operator of the underwater robot. With such a system, the operator benefits from a higher degree of telepresence and improved task capability. The authors include details of research based on this technique into the development of an integrated diverless underwater robotic repair system. Research which is being conducted by the authors at Cranfield University, England through support from the Marine Technology Directorate
Keywords :
digital simulation; marine systems; mobile robots; robot programming; simulation; solid modelling; telerobotics; 3-dimensional solid modelling system; computer generated dynamic image; corrosion protection; deep water welding repair; detrenching; final inspection; graphical simulation techniques; integrated diverless underwater robotic repair system; kinematic model; marine worksite; off-line programming system; task capability; task enhancement; telepresence; underwater robotic arm; Computational geometry; Corrosion; Image generation; Inspection; Kinematics; Pipelines; Protection; Robots; Solid modeling; Welding;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS '94. 'Oceans Engineering for Today's Technology and Tomorrow's Preservation.' Proceedings
Conference_Location :
Brest
Print_ISBN :
0-7803-2056-5
Type :
conf
DOI :
10.1109/OCEANS.1994.364033
Filename :
364033
Link To Document :
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