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Feasibility of simulation of a custom USV with a custom waterproof manipulator #235

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IamGyal opened this issue Sep 21, 2023 · 0 comments

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@IamGyal
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IamGyal commented Sep 21, 2023

Hi,

I'm working on a custom unmanned surface vehicle (USV) with a custom waterproof manipulator (which can be fully-submerged, fully in the air, or partially-submerged) attached to it.

I'm looking for a simulator where I can validate the maths models of the robot.

The ideal case would be where

  • there is no need for the user to put equations to calculate the hydrodynamics in the simulator,
  • the geometry of the robot, force and torque inputs, and any other necessary parameters are inputted by the user,
  • both the USV and the attached manipulator are affected by corresponding hydrodynamics (buoyancy, drag, lift, and added mass)
  • the forces and torques (wrenches) propagated between the manipulator and the USV are taken into account
  • the combined system (the USV and the manipulator) moves/behaves accordingly and accurately.

Could this be realised with this simulator? Or any other suggestions and advice would be appreciated.

Thank you very much.

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