Object-Oriented Design of a Dynamic Simulation for Underwater Robotic

  title={Object-Oriented Design of a Dynamic Simulation for Underwater Robotic},
  author={Scott McMillan and David E. Orin and Robert B. McGhee},
An ef ic ient 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… CONTINUE READING


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