This paper presents a computational framework for efficiently simulating the dynamics and hydrodynamicsof Underwater Robotic Vehicle (URV) systems. Through the use of object-oriented mechanisms, a verygeneral yet efficient version of the Articulated-Body (AB) algorithm has been implemented. An efficient solutionto branching within chains is developed in the paper so that the algorithm can be used to compute the dynamics forthe entire class of open-chain, tree-structured mechanisms. By including compliant contacts with the environment,most closed-chain systems can also be modeled. URV systems with an extended set of topologies can be simulatedincluding proposed underwater walking machines with intra-body powered articulations. Using the encapsulationinherent in C++, the hydrodynamics code has been confined to a single class, thereby explicitly defining thisframework and providing an environment for readily implementing desired hydrodynamics algorithms. Resultingsimulations are very efficient and can be used in a number of applications both in the development and use of URVsystems.
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