@incollection{Antonelli2018e,
  author = {Antonelli, Gianluca},
  title = {Simurv 4.1},
  booktitle = {Springer Tracts in Advanced Robotics},
  volume = {123},
  doi = {10.1007/978-3-319-77899-0_5},
  issn = {ISSN(print='16107438', electronic='1610742X')},
  abstract = {© 2018, Springer International Publishing AG, part of Springer Nature.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.},
  year = {2018},
}

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