Publication:
DynaMechs: An Object Oriented Software Package for Efficient Dynamic Simulation of Underwater Robotic Vehicles

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Authors
McMillian, Scott
Orin, David E.
McGhee, Robert B.
Subjects
Object oriented design
dynamics
hydrodynamics
simulation
robotics
articulated mechanism
software package
UUV
Advisors
Date of Issue
1995
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Abstract
In this chapter, a real-time, graphical simulation system called DynaMechs, for underwater robotic vehicles (URV) systems is presented. An efficient dynamic simuatlion algorithm is developed based on an efficient O(N) robot dyanmics algorithm where N is the number of links in the system. It has been extended to include the effects of various hydrodynamic forces that are exerted on these systems in underwater environments including added mass, viscous drag, fluid acceleration, and buoyancy forces. Very efficient implementation of the simulation algorithm is achieved through the use of object oriented design (OOD) techniques. This chapter describes the software package, written in C++, that results which is capable of simulating a large class of tree-structured mechanisms having star topologies which include multiple manipulator systems and multilegged vehicles.
Type
Book Chapter
Description
Chapter 3 in Underwater Robotic Vehicles: Design and Control (J. Yuh, ed.) TSI Press, pp. 73-98, 1995.
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Computer Science (CS)
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This work was supported in part by a DuPont Fellowship and an AT&T Ph.D. Scholarship both at The Ohio State University, by grant No. BCS-9109989 from the National Science Foundation to the Naval Postgraduate School, and by Grant No. BCS-9311269 from the National Science Foundation to The Ohio State University.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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