space-robotics-laboratory/spacedyn

The Spacedyn is a library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base written as MATLAB toolbox or C++ library. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which make motions in the environment with or without gravity.

SpaceDyn

MATLAB/C++ Libraries for the kinematic and dynamic analysis and simulation of space robots

Author(s) and maintainer(s): Space Robotics Lab.

This GitHub page is made based on the original webpage of the Spacedyn by current SRL member. Please, always refer to the original webpage for more information.

Overview

The Spacedyn is a MATLAB/C++ library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which makes motions in the environment with or without gravity.

This toolbox can handle open chain systems with topological tree configuration. A parallel manipulator, for example, then cannot be supported directly. A walking robot contacting on the ground with more than two legs or limbs at a time seems to form a closed chain including the ground, however, we can handle such a system with a proper model of ground contact at each contact point. Parallel manipulators can be treated with virtual cut of a kinematic chain and a corresponding virtual force model.

Some academic papers regarding this toolbox is published by Kazuya Yoshida and his co-author(s) [1]. For the technical points of this software, please consult these papers as well as the following chapters of the document.

We hope that you could find this toolbox useful.

Notice

• Now, the Spacedyn is Version 2, Release 0.
• The Spacedyn is a free software.
• You can download and use it freely for your academic purpose.
• Any of commercial use is kindly refused.
• There is no warranty for any damages caused by this software.
• If you intend to modify and re-distribute the Spacedyn, please consult us.
• The Spacedyn requires MATLAB 5.0 or higher. ( It uses functions that are not supported in 4.0 or lower )

Publication

[1] Kazuya Yoshida et. al., "The SpaceDyn: a MATLAB toolbox for space and mobile robots", Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), Kyongju, South Korea, 1999, pp. 1633-1638 vol.3, doi: 10.1109/IROS.1999.811712.

Acknowledgement

• SpaceDyn is originally developed and released by alumini of SRL listed in the original dcument.
• C++ version is developed by Dr. Satoko Abiko and Dr. Yoichiro Sato.

Release Note

• Sep. 17th, 2020, SpaceDyn version 2 release 0 is released in GitHub.
• Oct. 16th, 2020, SpaceDyn C++ is released.
• May. 31th, 2024, SpaceDyn version 2 release 1 is released in GitHub.
  • Debug integral of base orientation (fixed f_dyn_rk2 and dc2qtn, added qtn2dc and w2dQtn)

FAQ

For bug reports or any questions, please contact us via e-mail :

spacedyn_support(at)astro.mech.tohoku.ac.jp

Please read the document for details, and FAQ Page.

spacedyn's Issues

some problems concerning calc_aa

Hello! I seem to have encountered some problems, this may also be caused by my lack of understanding of the code, for the calc_aa matrix, the two parameters substituted are A0 and q, num_q is the length of q, then for the code that starts calc_aa, the LP has only three rows and three columns at most, because it is the direction of the base pre-matrix, but how can there be num_q as index? I substitute the 3x3 A0 matrix and the 7x1 q matrix into the calc_aa matrix and I get a code error, how should I fix this? Thank you!