New answers tagged simulation
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The Simulink and SimMechanics combination is a well suited one. You can add further SimScape elements for motors ot similar elements are needed. There is a Matlab demo on simiar topics here and here.
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Try to use V-REP, it is very straighforward to use and got a MATLAB and ROS interface. Is usable in WIndows, MAC and Linux.
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Try to use Gazebo.
http://gazebosim.org/
It has an interface to ROS which makes development of control software easy. and note that ROS is only usable on LINUX.
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