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cybergalactic / MSS

The Marine Systems Simulator (MSS) is software that supplements the textbook "Handbook of Marine Craft Hydrodynamics and Motion Control," 2nd Edition, by T. I. Fossen, published in 2021 by John Wiley & Sons Ltd.
https://mss.fossen.biz
MIT License
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Ability to simulate a manipulator attached to a USV #40

Closed IamGyal closed 1 year ago

IamGyal commented 1 year ago

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.

cybergalactic commented 1 year ago

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.

IamGyal commented 1 year ago

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?

cybergalactic commented 1 year ago

Yes, you need to calculate the interaction forces using other tools/programs.

IamGyal commented 1 year ago

Thank you very much, Professor!