Object-Oriented Design of a Dynamic Simulation for Underwater Robotic Vehicles
Orin, David E.
McGhee, Robert B.
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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 buoyancy forces. This work has since been extended to the simulation of more general tree-structured mechanisms having star topologies with a number of different joint types while maintaining the O(N) computational complexity (N is the number of links). Using this new algorithm, this paper describes the development of a real-time dynamic simulation system for underwater robotic systems. The primary goal is the eficient implementation of this general algorithm which has been achieved with C++ through the use of object-oriented design techniques of encapsulation, inheritance, and polymorphism. Coupled with realistic 30 graphical models, a powerful tool results for applications ranging from control system development to on-line displays during deployment. The use of this software system has been demonstrated for a number of systems including Aquarobot, an underwater hexapod under development in Japan for seawall construction and surveying.
IEEE International Conference on Robotics and Automation
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