Efficient Dynamic Simulation of an Underwater Vehicle with a Robotic Manipulator
Orin, David E.
McGhee, Robert B.
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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 links in the manipulator, and has been extended to include the effects of a mobile base (the URV body). In addition, the various hydrodynamic forces exerted on these systems in underwater environments are also incorporated into the simulation. The effects modeled in this work are added mass, viscous drag, fiuid acceleration, and buoyancy forces. With emcient implementation of the resulting algorithm, the amount of computation with inclusion of the hydrodynamics is almost double that of 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 degrees of freedom in the manipulator.
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McMillian, Scott; Orin, David E.; McGhee, Robert B. (1994);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 ...
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 ...
DynaMechs: An Object Oriented Software Package for Efficient Dynamic Simulation of Underwater Robotic Vehicles McMillian, Scott; Orin, David E.; McGhee, Robert B. (1995);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) ...