No abstract

In the main, the current control method for underwater manipulators involves a master-slave robot configuration combined with visual feedback provided by closed-circuit TV from a number of ROV mounted cameras. In order to overcome the various drawbacks of this system, a new method of both control and feedback, utilising simulation software developed for off-line programming, is currently under development at Cranfield. This paper describes these new methods, and summarises the need for them and their inherent advantages over current technology. It also includes a description of thefirst stages of their development and the evaluation experiments which were used to judge the feasibility of the continuance of the project.

A novel means of piloting an underwater robotic ann by using a computer generated dyMmic image of the mmine worksiteisdescribedhere. Itisinten&dtousethistechniq&for ten years. ~n &r to achieve this, more deep water welding repair schemes and it is envisaged that such a system would operate without the assistance of divers. Ultimately, additional reserves in the deeper waters of the northem a d arctic North Sea must be brought onst" over the next systems will be the system WO& have the capability to ca& out the complete intervention process. from &trenching 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 wderwater robot. With such a system. the operator bene@ from a higher degree of telepresence and improved task capability. Included here are details of current research based on this technque into the deveropmenC of an integrated diverless underwater rabotic repair system. Research which is being conducted by the authors at Cranfield University, England through suppott from the Marine Technology Directorate.