Title :
The SpaceDyn: a MATLAB toolbox for space and mobile robots
Author_Institution :
Dept. of Aeron. & Space Eng., Tohoku Univ., Sendai, Japan
Abstract :
We develop a collection of useful subroutines named SpaceDyn, in order to offer an open and free environment of numerical simulations to researchers both in robotics and space engineering fields. The SpaceDyn is a MATLAB toolbox for the kinematic and dynamic analysis and simulation of articulated multi-body 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 make motions in the environment with or without gravity
Keywords :
aerospace robotics; flexible structures; graph theory; mobile robots; numerical analysis; robot dynamics; robot kinematics; software packages; MATLAB toolbox; SpaceDyn; articulated multi-body systems; dynamic analysis; free-flying space robot; kinematic analysis; mechanical appendages; moving base; open free environment; structural flexibility; Aerodynamics; Algorithms; Analytical models; Kinematics; MATLAB; Mathematical model; Mobile robots; Numerical simulation; Orbital robotics; Torque;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.811712
