The SpaceDyn: a MATLAB toolbox for space and mobile robots

Author

Yoshida, Kazuya

Author_Institution

Dept. of Aeron. & Space Eng., Tohoku Univ., Sendai, Japan

Volume

3

fYear

1999

fDate

1999

Firstpage

1633

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.1999.811712

Filename

811712