가상물리운용시스템을 위한 수중로봇의 실시간물리엔진구조 연구

Abstract

This paper is a study on the real-time physical engine structure of an underwater robot for the development of a cyver physical operation system(CPOS). The CPOS was proposed as a method to deal with the visibility limit of underwater robotusing remotely operated underwater vehicle(ROV). CPOS consists of 4 module such as robot system, virtual reality(VR) system, real-time physics engine and human in-the-loop system(HILS). In this paper, we propose the structure and data flowdiagram for real-time physics engine. It had based on the multibody dynamics method for underwater tracked robot. We also propose the two operating modes of underwater working robot. One is robot operating mode the other one is virtual operating mode. In this case, as selected modes, the forward dynamics module and inverse dynamics module are employed respectively.