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

By Scott McMillan, David E. Orin and Robert B. McGhee

Abstract

In this chapter, a real-time, graphical simulation system, called DynaMechs, for underwater robotic vehicle (URV) systems is presented. An efficient dynamic simulation algorithm is developed based on an efficient O(N) robot dynamics 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. y Chapter 3 in Underwater Robotic Vehicles: Design and Control, (J. Yuh, ed.), TSI Press, pp. 73--98, 1995. 1

Topics: object oriented design, dynamics, hydrodynamics, simulation, robotics, articulated
Publisher: TSI Press
Year: 1995
OAI identifier: oai:CiteSeerX.psu:10.1.1.22.659
Provided by: CiteSeerX
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