The SpaceDyn: a MATLAB Toolbox for Space and Mobile Robots

Kazuya Yoshida

doi:10.20965/jrm.2000.p0411

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JRM Vol.12 No.4 pp. 411-416

doi: 10.20965/jrm.2000.p0411

(2000)

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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, 1999

Accepted:

April 20, 2000

Published:

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.

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