Abstract: A cable-driven manipulator can precisely manipulate tools and loads using position, velocity and force control modes. The manipulator includes a plurality of cables (2 or more) that are independently controlled by modular, winch drive-mechanisms and coordinated to achieve intuitive manipulator movement in all six degrees-of-freedom. The manipulator consisting of modular sub-assemblies and components (i.e. winch, amplifier, servo interface, sensory feedback), can be rapidly reconfigured to adjust to new applications. Various combinations of manual and automatic control can also be implemented. The winches can be controlled manually by a multi-axis joystick, or can be automatically controlled by computer.

Abstract: A support system for supporting an underwater work platform includes a work platform submerged in a body of water and a support structure supported by the body of water above the work platform. The work platform is supported by a plurality of cables connected between the support structure and the work platform. Motions of the support structure in the body of water are sensed, and the length of the cables is adjusted in response to the sensed motions of the support structure so that the work platform can be maintained stationary even when the support structure is subjected to wave forces and currents.