DEVELOPMENT OF A ROBOTIC UNDERWATER MANIPULATOR

摘要

The Advanced Robotic Manipulator project aims to produce a new eight degree of freedom manipulator and control system for diverless subsea inspection maintenance and repair. This paper outlines requirements for such a system and the environment in which it will have to operate. A comparison between land based and marine based manipulators is made. The philosophy behind the design and operation of the manipulator and its control systems are discussed, as too are the constraints imposed upon the design by the operating environment.