SPAcecraft Robotics Toolkit
SPART is a MATLAB/SIMULINK open-source modeling and control toolkit for orbiting spacecraft with robotic manipulators (i.e., manipulators with a floating base).
SPART is organized as a collection of MATLAB functions and Simulink blocks. These can be used to build plants, forward/inverse dynamic solvers, and controllers.
SPART allows to compute:
-Kinematics - rotation matrices, position vectors and homogeneous transformation matrices.
-Differential kinematics - Jacobians and operational space velocities.
-Dynamics - Generalized inertia and convective inertia matrices.
-Forward/Inverse dynamics (including the floating base case).
Additionally, SPART supports:
-Symbolic computation of all the kinematic and dynamic magnitudes.
-Automatic Code Generation support (e.g., for Simulink or ROS nodes).
-URDF files (experimental support).
Up to date documentation and tutorials are available at spart.readthedocs.org.
引用格式
Josep Virgili LLop (2024). SPAcecraft Robotics Toolkit (https://github.com/NPS-SRL/SPART), GitHub. 检索来源 .
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- Physical Modeling > Simscape Multibody > Model Import >
- Physical Modeling > Simscape Driveline > Inertias and Loads >
- Robotics and Autonomous Systems > ROS Toolbox >
- Engineering > Electrical and Computer Engineering > Robotics >
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版本 | 已发布 | 发行说明 | |
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1.1.0.0 | Updated description. |
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1.0.0.0 |
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