Ability to simulate a manipulator attached to a USV
IamGyal opened this issue · comments
Hi Prof. Fossen,
Would it be possible to simulate a serial manipulator attached underneath a USV with this library in such a way that the hydrodynamics is applied to the manipulator as well?
Thank you very much.
The toolbox does not contain multibody systems. However, you can use the Otter USV model (scale it up and down) and add a robot manipulator model. Then, you need to understand the interaction forces and moments between the two rigid bodies. Concerning hydrodynamic added mass and damping for a robotic manipulator, publications on the Internet describe these terms. However, these forces are minor in practice, so a practical approach is to use a standard rigid-body model for the robot manipulator. Since it is submerged, you should still add buoyance forces corresponding to the displaced water volume of the manipulator.
The toolbox does not contain multibody systems. However, you can use the Otter USV model (scale it up and down) and add a robot manipulator model. Then, you need to understand the interaction forces and moments between the two rigid bodies.
Thank you very much for your reply.
Would you mean that I need to code the calculation of the interaction forces and moments between the Otter and the manipulator?
Yes, you need to calculate the interaction forces using other tools/programs.
Thank you very much, Professor!