Apparatus and methods of positioning a subsea object

摘要

A manipulator tool (100) for installing and retrieving objects from a fixed or floating structure (1) in a subsea tidal environment includes an articulated arm (22) attached to the fixed or floating structure. The tool may be configured to compensate for movement of the objects due to tidal forces. In one embodiment, a stewart platform (103) is used as a compensator to maintain the objects in a substantially stationary position in the tidal environment.