Desenvolvimento de um manipulador para a inspeção de corpos submersos

Abstract

The efforts presented here approach development of an industrial real size manipulator, with a joint configuration inspired on the Titan 4 from TechnipFMC, capable of performing tasks to a submerged body. To develop this manipulator, a project was designed, based on the mechanical necessities, the predefined motors, the manipulator’s joint configuration and the reservoir to which bodied would be submerged. ROS was used to comunicate the controller, the drivers and the systems operation. An operating structure was developed that allowed the manipulator to operate in direct and inverse kinematic operation modes. To evaluate the operating structure, a testing scene was developed using Vrep to emulate the robotic arm, which was later adapted to validate secure manipulator operation. After validation, a sequence of precalculated joint space coordinates are sent periodically to the controller to command the manipulator. A repeatability test was executed on joints 1, 2 and 3 of the designed manipulator, to test its ability to repeat predetermined joint angles, and return safely to its origin. Finally an underwater test is performed to evaluate adequate operation in a submerged environment.