System architecture design for hybrid manipulator
A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an In...
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| Format: | Theses and Dissertations |
| Published: |
2008
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| Online Access: | http://hdl.handle.net/10356/5591 |
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| Institution: | Nanyang Technological University |
| Summary: | A hybrid manipulator is deployed on an Underwater Robotic Vehicle (URV) for provision of dexterous manipulation during inspection and intervention tasks of subsea facilities. It is a 7 degree-of-freedom robotic arm having a Launching Stage with two hydraulic joints for high power provision and an Inspection Stage with five electric joints for achieving motion precision at the end-effector. Designing and developing a prototype interfacing software module for the inspection stage that fits into the overall hybrid system architecture is the main contribution of this dissertation. |
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