Efficient dynamic simulation of an underwater vehicle with a robotic manipulator

  title={Efficient dynamic simulation of an underwater vehicle with a robotic manipulator},
  author={Scott McMillan and David E. Orin and Robert B. McGhee},
  journal={IEEE Trans. Syst. Man Cybern.},
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… Expand

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