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Registro completo
Provedor de dados:  5
País:  France
Título:  Controle commande d'un robot sousmarin
Autores:  Durand, D
Domingo, J
Levallois, E
Data:  1990-12
Ano:  1990
Palavras-chave:  Marine technology
Acoustics
Connecting
Connectors
Oil wells
Sensors
Hydraulics
Robots
Manipulators
Resumo:  This system is composed of a high accuracy hydraulic manipulator arm with 6 degrees of freedom, for high loads (2000 daN), using ultrasound proximetry and contact force measurement data to carry out the subsea connection of bottom oil wells. An expert system controls the connection phases and generates the sequences of commands to be executed by the robot. The safety systems and failure modes are also taken into account. A graphic operator station provides easy control. Each connection phase generates a graphic representation of the robot status and all the proprioceptive and exteroceptive sensors. The control/command system, although it is designed to carry out a subsea connection by means of a manipulator arm, can be adapted to any type of process. For example, it will soon be used to control the decoking process in an oil refinery.
Tipo:  Text
Idioma:  Francês
Identificador:  http://archimer.ifremer.fr/doc/1990/acte-1155.pdf
Editor:  Actes de colloques. Ifremer. Brest [ACTES COLLOQ. IFREMER.]. 1991
Relação:  http://archimer.ifremer.fr/doc/00000/1155/
Formato:  application/pdf
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