Results of modeling the dynamics of robots in Matlab and SolidWorks environments using the example of an underwater robot

Modern technologies for modeling robot dynamics play a key role in the development and optimization of their designs, especially in difficult environments such as underwater environments. Objective – dynamic modeling research for real-time robot control in an underwater vehicle. The article presents models based on the Newton-Euler method for dynamics. The simulation was performed in MATLAB and SolidWorks, which allowed us to confirm the accuracy of the calculations. The proposed approaches are applicable to automation tasks in ophthalmology and industrial robotics and can serve as a foundation for further research in adaptive control.