Task enhancement of an underwater robotic arm by graphical simulation techniques

Abstract

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.