DynaMechs: An Object Oriented Software Package for Efficient Dynamic Simulation of Underwater Robotic Vehicles
Orin, David E.
McGhee, Robert B.
MetadataShow full item record
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.
Chapter 3 in Underwater Robotic Vehicles: Design and Control (J. Yuh, ed.) TSI Press, pp. 73-98, 1995.
Showing items related by title, author, creator and subject.
Song, K.S.; Chu, Peter C. (2012);Abstract—A conceptual design is proposed for an effective mine countermeasure (MCM) system, which consists of three unmanned underwater vehicles (UUVs) and 10–20 small charged deliverable vehicles. New underwater optical ...
McMillian, Scott; Orin, David E.; McGhee, Robert B. (1996);This paper presents a computational framework for efficiently simulating the dynamics and hydrodynamics of Underwater Robotic Vehicle (URV) systems. Through the use of object-oriented mechanisms, a very general yet ...
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 ...