CAJ | 학술논문

机器人进行水下结构物维修时，不仅处于非结构化环境，而且存在浮游碰撞危险，作业区域可达性差，水下环境识别困难等特殊问题，所以，进一步提升机器人智能化水平非常重要。英国GRL公司用于焊缝检验的先进海底机械手A RM系统采用先进的人机接口以及工厂用机器人的某些技术，实现了机械手的控制。以ARM的开发经验为基础，目前GRL公司正在研制更为先进的机器人控制系统Polecat ，该系统将用于ROV导航员的训练平台Rovsim以及一系列欧盟和商业项目之中，其适用场合不仅包括海洋工程，也包括核电和其他环境。
궤기인진행수하결구물유수시，불부처우비결구화배경，이차존재부유팽당위험，작업구역가체성차，수하배경식별곤난등특수문제，소이，진일보제승궤기인지능화수평비상중요。영국GRL공사용우한봉검험적선진해저궤계수A RM계통채용선진적인궤접구이급공엄용궤기인적모사기술，실현료궤계수적공제。이ARM적개발경험위기출，목전GRL공사정재연제경위선진적궤기인공제계통Polecat ，해계통장용우ROV도항원적훈련평태Rovsim이급일계렬구맹화상업항목지중，기괄용장합불부포괄해양공정，야포괄핵전화기타배경。
When a robot is to carry out underwater structure repair ,it works in an unstructured environment .More significantly , some special problems should be solved , such as collision hazard in floating ,bad accessibility to working areas ,and difficult registration in underwater en‐vironment ,so to improve the intelligence level of subsea robots is very important .This paper de‐scribes the development of the ARM System ,an advanced subsea manipulator for weld inspection made by GRL UK .ARM uses an advanced man‐machine interface and provides robotic control of the manipulator adopting techniques developed in factory robots . A more advanced robotic control system ,Polecat ,is currently being developed by GRL UK ,based on experience gained from ARM .Polecat will be used in an ROV pilot trainer ,Rovsim ,and a number of European Union projects and other commercial projects ,which can be used subsea or in the nuclear power field .