水下结构物修复用先进机械手软硬件关键技术综述

A Review on the Key Software and Hardware Technology of the Advanced Robotic Manipulator Used for Underwater Structures Repair

机器人进行水下结构物维修时,不仅处于非结构化环境,而且存在浮游碰撞危险,作业区域可达性差,水下环境识别困难等特殊问题,所以,进一步提升机器人智能化水平非常重要。英国GRL公司用于焊缝检验的先进海底机械手ARM系统采用先进的人机接口以及工厂用机器人的某些技术,实现了机械手的控制。以ARM的开发经验为基础,目前GRL公司正在研制更为先进的机器人控制系统Polecat,该系统将用于ROV导航员的训练平台Rovsim以及一系列欧盟和商业项目之中,其适用场合不仅包括海洋工程,也包括核电和其他环境。

When a robot is to carry out underwater structure repair, it works in an unstructured environment. More significantly, some special problems should be solved, such as collision hazard in floating, bad accessibility to working areas, and difficult registration in underwater en- vironment, so to improve the intelligence level of subsea robots is very important. This paper de- scribes the development of the ARM System, an advanced subsea manipulator for weld inspection made by GRL UK. ARM uses an advanced man-machine interface and provides robotic control of the manipulator adopting techniques developed in factory robots. A more advanced robotic control system, Polecat, is currently being developed by GRL UK, based on experience gained from ARM. Polecat will be used in an ROV pilot trainer, Rovsim, and a number of European Union projects and other commercial projects, which can be used subsea or in the nuclear power field.