Trevor Heale and Trevor Larkum
This paper describes the development of the ARM System, an advanced subsea manipulator for weld inspection. ARM uses an advanced man‐machine interface and provides robotic control…
Abstract
This paper describes the development of the ARM System, an advanced subsea manipulator for weld inspection. ARM uses an advanced man‐machine interface and provides robotic control of the manipulator using techniques developed in factory robots. A more advanced robotic control system, Polecat, is currently being developed using experience gained from ARM and will be used in an ROV pilot trainer, Rovsim, and a number of European and commercial projects ‐ not just subsea but also in nuclear and factory environments.