A 6-axes Subsea Robot For Diverless Work

Abstract

A free programmable industrial &axes robot has been modified for underwater operation. The prototyp carried out an extended test program in wet and dry environment down to water depths of 1100 m~ Furthermore principles of tool handling and changing were verified under water. Working procedures like inspection tasks by means of optical. a n d ultrasonic devices have been carried out. The work is accompanied by a software system for offline programming and graphical simulation. This paper presents experimental results from robot test activities and a description of the computer-based system for mission planning.