Underwater operation of a 6-axes robot based on offline programming and graphical simulation

The examination of developments in offshore activities indicates that the need for automation of subsea work by advanced underwater handling systems assumes increasing significance. For this purpose modern industrial robots modified for underwater work, combined with underwater carriers and assisted by CAD-based offline programming and graphical simulation, offer a promising technical solution. Such handling systems improve the prospects for assisting and ultimately replacing the work of divers. Based on this background, a major effort of the GKSS R&D program in underwater technology is concentrated on the development of a diverless underwater handling system, well suited for automation of cleaning, inspection, and repair tasks at offshore structures. The system is called OSIRIS (Offshore Integrated Robotic Inspection/Intervention System. The project is funded by the German Federal Ministry of Research and Technology and is managed by GKSS in co-operation with industry and universities. Within this project, the modification and application of an industrial Manutec r15 robot for subsea work is one of the main parts. Also working techniques, such as IMR inspection maintenance, and repair) operations, must be adapted for underwater work.<>