Structure of underwater intervention manipulators in workspace constraint environment and architecture of their control system

@article{Solvang2001StructureOU,
  title={Structure of underwater intervention manipulators in workspace constraint environment and architecture of their control system},
  author={B. Solvang and Ziqiong Deng and Terje K. Lien},
  journal={MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295)},
  year={2001},
  volume={2},
  pages={1092-1099 vol.2}
}
To develop underwater intervention tools, it is necessary to start with the customer (e.g. oil company) needs. Tasks and capabilities form a 2D matrix. ROV subsystems provide a third dimension. The article discusses this third dimension of the reference framework, at the subsystem level, but focusses mainly on the manipulator subsystem and its control subsystem aiming at exploring problems of: What kind of manipulator structure is suitable for underwater-unmanned intervention in a limited… CONTINUE READING

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