Schreck, G.G.Schreck2022-03-082022-03-081990https://publica.fraunhofer.de/handle/publica/317601For the inspection of underwater structures a remote handling system is being developed. The main components are a remote-controlled submersible transporting a robot and several tools. The presentation gives an overiew, how to use off-line programming techniques as well as for the vehicle programming as for the task and task execution planning for the robot.enCIMexplicit programmingoff-shoreroboticroboticstask oriented user interface670conference paper