{"title":"用于无潜水员作业的六轴水下机器人","authors":"M. Gustmann, M. Boeke, E. Aust, G. Schultheiss","doi":"10.1109/OCEANS.1992.607694","DOIUrl":null,"url":null,"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.","PeriodicalId":158109,"journal":{"name":"OCEANS 92 Proceedings@m_Mastering the Oceans Through Technology","volume":"20 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1992-10-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A 6-axes Subsea Robot For Diverless Work\",\"authors\":\"M. Gustmann, M. Boeke, E. Aust, G. Schultheiss\",\"doi\":\"10.1109/OCEANS.1992.607694\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":158109,\"journal\":{\"name\":\"OCEANS 92 Proceedings@m_Mastering the Oceans Through Technology\",\"volume\":\"20 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1992-10-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"OCEANS 92 Proceedings@m_Mastering the Oceans Through Technology\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/OCEANS.1992.607694\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"OCEANS 92 Proceedings@m_Mastering the Oceans Through Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANS.1992.607694","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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.
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