SPAcecraft Robotics Toolkit
SPART is a MATLAB/SIMULINK open-source modeling and control toolkit for orbiting spacecraft with robotic manipulators (i.e., manipulators with a floating base).
SPART is organized as a collection of MATLAB functions and Simulink blocks. These can be used to build plants, forward/inverse dynamic solvers, and controllers.
SPART allows to compute:
-Kinematics - rotation matrices, position vectors and homogeneous transformation matrices.
-Differential kinematics - Jacobians and operational space velocities.
-Dynamics - Generalized inertia and convective inertia matrices.
-Forward/Inverse dynamics (including the floating base case).
Additionally, SPART supports:
-Symbolic computation of all the kinematic and dynamic magnitudes.
-Automatic Code Generation support (e.g., for Simulink or ROS nodes).
-URDF files (experimental support).
Up to date documentation and tutorials are available at spart.readthedocs.org.
Citar como
Josep Virgili LLop (2024). SPAcecraft Robotics Toolkit (https://github.com/NPS-SRL/SPART), GitHub. Recuperado .
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Windows macOS LinuxCategorías
- Physical Modeling > Simscape Multibody > Model Import >
- Physical Modeling > Simscape Driveline > Inertias and Loads >
- Robotics and Autonomous Systems > ROS Toolbox >
- Engineering > Electrical and Computer Engineering > Robotics >
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examples/DH_Tutorial
examples/ResolvedMotion
examples/Symbolic
examples/URDF_Tutorial
examples/Workspace
src/attitude_transformations
src/kinematics_dynamics
src/robot_model
src/utils
tests
examples/ResolvedMotion
src/Simulink_library
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1.1.0.0 | Updated description. |
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1.0.0.0 |
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