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The SpaceDyn: a MATLAB Toolbox for Space and Mobile Robots
Kazuya Yoshida
Department of Aeronautics and Space Engineering, Tohoku University, Aoba 01, Sendai 980-8579, Japan
Received:December 20, 1999Accepted:April 20, 2000Published:August 20, 2000
Keywords:Dynamics of multibody system, Space robot, Moving base robot, Motor vehicle, Numerical simulation
Abstract
A collection of useful subroutines named the SpaceDyn is developed in order to offer an open, free tool of numerical simulations for researchers both in robotics and space engineering fields. The SpaceDyn is a MATLAB Toolbox for kinematic and dynamic analysis and simulation of articulated multibody systems with a moving base. Examples of such systems include a satellite with mechanical appendages, a free-flying space robot, a robotic system with structural flexibility, and a mobile robot, all of which makes motions in the environment with or without gravity.
Cite this article as:K. Yoshida, “The SpaceDyn: a MATLAB Toolbox for Space and Mobile Robots,” J. Robot. Mechatron., Vol.12 No.4, pp. 411-416, 2000.Data files:
Copyright© 2000 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.
