Efficient Dynamic Simulation of an Unmanned Underwater Vehicle with a Manipulator
Orin, David E.
McGhee, Robert B.
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In this paper, an eficient dynamic simulation algorithm is developed for an unmanned underwater vehicle (ULJV) with a robotic manipulator. It is based on an eficient O(N) algorithm where N is the number of links in the manipulator, and has been extended to include the full effects of a mobile base and various hydrodynamic forces that are ezerted on these systems in underwater environments. The effects modeled in this paper are added mass, viscous drag, fluid acceleration, and buoyancy forces. With efficient implementation of the resulting algorithm, the amount of computation including hydrodynamics almost doubles over the original algorithm for a six degree-of-freedom land-based manipulator with a mobile base. Nevertheless, the amount of computation still only grows linearly with the number of links in the manipulator.
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McMillian, Scott; Orin, David E.; McGhee, Robert B. (1995-08);In this paper, an efficient dynamic simulation algorithm is developed for an underwater robotic vehicle (URV) with a manipulator. It is based on previous work on efficient O( N ) algorithms, where N is the number of ...
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McMillian, Scott; Orin, David E.; McGhee, Robert B. (IEEE, 1995);An eficient simulation algorithm for an underwater robotic vehicle with a single manipulator was developed in [l] which included the hydrodynamic effects due to added mass, viscous drag, fluid acceleration, and ...