This article describes a hybrid simulation approach meant to facilitate the realization of a simulator for underwater vehicles with one or more manipulators capable of simulating the interaction of the vehicle with objects and structures of the environment. The hybrid simulation approach is first described and motivated analytically, then an analysis of simulation accuracy is proposed, where, in particular, the implications of added mass simulation are discussed. Then, a possible implementation of the proposed architecture is shown, where a robotic simulator of articulated bodies, capable of stable and accurate simulation of contact forces, although unfit to simulate any serious hydrodynamic model, is tightly interfaced with a general purpose dynamic systems simulator that is used to simulate the hydrodynamic forces, the vehicle guidance, navigation, and control system, and also a man–machine interface. Software details and the technicalities needed to interface the two simulators are also briefly presented. Finally, the results of the simulation of three operational scenarios are proposed as qualitative assessment of the simulator capabilities.

中文翻译：

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带有机械手的水下航行器混合模拟器的开发

本文介绍了一种混合仿真方法，旨在促进水下航行器模拟器的实现，其中一个或多个操纵器能够模拟水下航行器与环境物体和结构的相互作用。首先对混合仿真方法进行了描述和分析，然后提出了对仿真精度的分析，其中特别讨论了附加质量仿真的影响。然后，展示了所提出架构的可能实现方式，其中关节体机器人模拟器能够稳定和准确地模拟接触力，虽然不适合模拟任何严重的流体动力学模型，但与通用动态系统模拟器紧密连接，用于模拟流体动力、车辆引导、导航和控制系统，以及人机界面。还简要介绍了连接两个模拟器所需的软件细节和技术细节。最后，提出了三种操作场景的模拟结果作为模拟器能力的定性评估。