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Unformatted text preview: p_o_do>=q4*a1>+q5*a2>+q6*a3> v_do_a>=dt(p_o_do>,a) a_do_a>=dt(v_do_a>,a) % Dynamics equations for second approach zero=fr()+frstar() expand(zero) % Note that to solve these equations via numerical integration, % you need to start with initial conditions for the following % variables: q1->q6 and u1->u6. Then two sets of first order % (rather than one set of second order) differential equations % must be solved via numerical integration: q' = f(q,u) and Sheet1 Page 2 % u' = f(u). The dependence of the dynamical (i.e., u') % differential equations on q has disappeared, and instead % the kinematical (i.e., q') differential equations now % depend on q, but in a much simpler form....
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- Fall '08