The ARM project aim has been to produce a new sub-sea inspection system, capable of doing advanced cleaning and inspection tasks in areas beyond the reach of divers. It will also be able to work at the same operating depths as divers but at lower cost and with greater safety and reliability. A cleaning and inspection system was planned which would incorporate a completely new underwater manipulator and an advanced computer control system. The ARM supervisory controller comprises a surface graphics control unit linked via the remotely operated vehicle (ROV) umbilical to a sub-sea ARM controller. This provides full control of the manipulator, including manual master-slave tele-manipulation and fully automated, robotic task execution. A 3D video representation of the ROV, manipulator and work site is presented using solid shaded colour graphics, and can be used to monitor the arm whilst planning or executing tasks.
ARM: A proven system for the inspection of subsea welds
Measurement and Control ; 31 , 3 ; 68-72
1998
5 Seiten
Article (Journal)
English