In this paper, an efficient dynamic simulation algorithmis developed for an underwater robotic vehicle (URV) witha manipulator. It is based on previous work on efficient O( N ) algorithms,where N is the number of links in the manipulator, andhas been extended to include the effects of a mobile base (the URVbody). In addition, the various hydrodynamic forces exerted onthese systems in underwater environments are also incorporatedinto the simulation. The effects modeled in this work are addedmass, viscous drag, fiuid acceleration, and buoyancy forces. Withemcient implementation of the resulting algorithm, the amountof computation with inclusion of the hydrodynamics is almostdouble that of the original algorithm for a six degree-of-freedomland-based manipulator with a mobile base. Nevertheless, theamount of computation still only grows linearly with the numberof degrees of freedom in the manipulator.
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