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The authors developed an automatically controlled manipulation system for subsea operation. The manipulation system was developed to provide inspection, cleaning and maintenance, that have been accomplished by divers, at an ocean oil exploitation platform in maximum 200 m depth under the water. The manipulator is designed to have one extension arm and two working arms equipped on the end of the extension arm so as to have a wide service area. Each working arm has 6 articulated joints and a grip. It has a light-weight and high-rigid arm mechanism. The control system to perform a sway compensation control, a hybrid position/force control, a co-operation control of two working arms and a force reflection bilateral control using master arm, has been developed. Various types of water pressure proof sensors have been developed to realize these controls. > |
