ABB ROBOTSTUDIO MOVING END EFFECTOR SERIAL
ABB ROBOTSTUDIO MOVING END EFFECTOR SOFTWARE

Equipped with a custom-designed 5-axis robotic arm, this ROV is able to perform a wide variety of scientific tasks including temperature measurements and underwater deployment, as well as sampling of sediments and biological organisms. The Deep Submergence Operations Group developed the Jason ROV at the WHOI Deep Submergence Laboratory in 1989. Owing to its great application perspectives, research and investigations concerning SFOS have already been launched all over the world. Right: an autonomous underwater vehicle (AUV) carrying a torch for underwater welding. Left: a remotely operated vehicle (ROV) equipped with a manipulator laying the cables on the sea floor. Illustration of a submerged floating operational system (SFOS). As illustrated in Figure 1, SFOS can replace a human diver to perform underwater robotic tasks in harsh and dangerous environments, such as underwater salvage, and underwater pipeline inspection, ship maintenance.

Recently, submerged floating operational systems (SFOS), represented by underwater vehicles equipped with manipulators, have evolved from laboratory engineering prototypes into mature field tools for underwater operational applications. With significant advances of different types of mobile robots and manipulators in a bunch of application fields, marine robots including unmanned surface vehicles (USVs), remotely operated vehicles (ROVs), and autonomous underwater vehicles (AUVs) have been well developed in last decades. IntroductionДЄs the ocean attracts great attention on environmental issues and resources, the need for and use of underwater operational systems become more and more demanding. The obtained results from these two experiments show clearly the effectiveness and the performance of the proposed VSFOS. In the first experiment, the test is carried out to check the communication function of VSFOS, while in the second one, the manipulator is intended to follow the movement of the parallel platform and perform simulated operational task in the space. To validate the proposed system, two experiments have been conducted to test its performance. Furthermore, the real-time status of the manipulator is displayed in this software.

ABB ROBOTSTUDIO MOVING END EFFECTOR SOFTWARE

In the control system architecture, software is developed to receive the data collected by the inertial sensor, to communicate and send instructions. The ABB manipulator, controlled by the real-time industrial computer, works as an operational tool to perform underwater manipulation tasks. The 6-DOF platform is used to simulate the movement of an underwater vehicle, whose attitude is measured by the inertial sensor.

ABB ROBOTSTUDIO MOVING END EFFECTOR SERIAL

This VSFOS is consisted of a six-degree-of-freedom (6-DOF) parallel platform, an ABB serial manipulator, an inertial sensor, and a real-time industrial computer. The primary aim behind its development lies in carrying out simulated underwater manipulation experiments in an easier and safer way. In this work, a virtual submerged floating operational system (VSFOS) based on parallel and serial robotic platforms is proposed.

Abb robotstudio moving end effector