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Simurv 4.1

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Underwater Robots

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

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Abstract

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.

‘Song’ ’e fierr ca’ fann ’o mast..

Neapolitan saying.

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Authors and Affiliations

  1. Dipartimento di Ingegneria Elettrica e dell’Informazione, Università di Cassino e Lazio Meridionale, Cassino, Italy

    Gianluca Antonelli

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  1. Gianluca Antonelli
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Correspondence to Gianluca Antonelli .

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Antonelli, G. (2018). Simurv 4.1. In: Underwater Robots. Springer Tracts in Advanced Robotics, vol 123. Springer, Cham. https://doi.org/10.1007/978-3-319-77899-0_5

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  • DOI: https://doi.org/10.1007/978-3-319-77899-0_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-77898-3

  • Online ISBN: 978-3-319-77899-0

  • eBook Packages: EngineeringEngineering (R0)

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