Experience With an Off-Line Programming and Simulation System for an Underwater Handling System
The motion sequences needed for the execution of typical underwater handling tasks often overtax the human imagination. Additionally, the environment is not structured unambiguously and a handling task will not be repeated in the same manner. For this reasons, it is essential to supplement the development of suitable underwater handling systems by the design of specialised software for programming and simulation of handling tasks.
This paper introduces a typical graphically assisted programming and simulation system and demonstrates its importance as an instrument for realistic work planning with due consideration of collision avoidance aspects. The quality and safety of the procedures used for this purpose are of special importance, because the verification of the simulated operating cycle in a real environment is not possible.
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