The Office of Naval Research has sponsored a collaborative effort between the Naval Surface Warfare Center Carderock Division, Advanced Technology and Research Corporation, Newport News Shipbuilders, the National Institute of Standards and Technology (NIST). Phase I of this effort is nearing completion to autonomously weld double-hull ship sections together. In order to accomplish the delivery of industrial equipment (welder, weld robot, power supply) to the work-site, an advanced crane concept called ¿RoboCrane¿ was employed. Typically, a crane equipped with conventional controls would be used to deliver worker-assisted and controlled welding systems. But, the expense, inefficiencies, and the unsafe environment that the project imposes on workers make it a more suitable robotic application. RoboCrane is used to pick-up, deliver, and retrieve advanced welding systems using remote control to/from the work-site where double-hull ship sections are to be joined by welding. The paper provides description of the RoboCrane application to advanced double-hull ship construction, including system configuration of RoboCrane and the weld system, control and sensory feedback, and other applications considered.
Proceedings of the Third International ICSC Symposia on Intelligent Industrial Automation and Soft Computing
June 1-4, 1999
ICSC Symposia on Intelligent Industrial Automation and Soft Computing
double-hull ship, RoboCrane, robot crane, Robot Crane, Robotics & Intelligent Systems, control, sensor feedback, welding