Underwater Construction Robot CPOS

Abstract

Real-time simulators for underwater construction robots require accurate dynamics models as well as visualization tools that can expose robot position, posture, and state information during operation. This presentation proposed a ROS/RViz-based visualization workflow for a real-time underwater construction robot dynamics model. The method transformed robot model information into visualization-ready descriptions and connected real-time simulation results with RViz so that the model behavior could be inspected and validated during simulation.

Poster

Abstract

This presentation reported the development of a real-time physics engine for an underwater construction robot simulator integrated with CPOS. The project connected physical robot modeling, visualization, real-time engine execution, and simulator operation. The local project summary highlights a subsystem-synthesis-based multibody model, ROS-based integration, RecurDyn-MATLAB co-simulation for track-module validation, and improvements to the parallel real-time analysis process.

Project Material

Abstract

A realistic underwater construction robot simulator must represent the physical effects that occur during underwater work. This presentation developed hydrodynamic-force models for real-time robot analysis, including buoyancy, added-mass, and drag-force effects. The model was applied to stabilization and inverse-dynamics simulations, showing how hydrodynamic effects change base motion and joint driving torque during underwater robot operation.

Poster