underwater_robot_sim

A simulator for kinematics, dynamics and control on UVDMS(Underwater Vehicle Dual-Manipulator System).It uses DH method for establishing kinematic model and Newton-Euler method for dynamic model. It can be used for further research on robotics, control theory and so on. This project provides a demo for underwater grasping operation of UVDMS.

Origanization: Lab of Advanced Robotic Marine systems (ARMs), School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology.

Demo

Underwater operation without control

PID feedback control on robot's position and pose

Run

Clone the repository

cd YOUR_WORKSPACE/
git clone https://github.com/LiuYuha0/underwater_robot_sim.git

Opne matlab and run

simurv.m

choose model(Also you can establish your own robot model)

data_hust_uvdms.m

choose simulation demo

core_UVDMS_demo2_grasp.m

The model.m, demo.m and data(save as .mat format) would be backed up in output/ folder with timestamp after running. If you want to generate video as demo above, run GenerateMovie(0) in MATLAB terminal and choose xx.mat.

Result

The PID control results are as follows, the variation of robot's position/orientation show in Fig.1, and forces/torques in Fig.2.

Acknowledgements

Thanks G. Antonelli very much.