Simurv 4.1

  • Gianluca Antonelli
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 123)


Given the scalar, nonlinear, differential equation it is required to approximate it by a difference equation such that its solution, i.e., x(t), can be numerically evaluated by means of a computer. The theory of digitization is huge and well covered by textbooks of both analysis and control theory,here the sole equations needed to understand how to achieve the simulation of a 6DOFs rigid body, the basis for a vehicle-manipulator system, will be given.


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Dipartimento di Ingegneria Elettrica e dell’InformazioneUniversità di Cassino e Lazio MeridionaleCassinoItaly

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