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SPAcecraft Robotics Toolkit

version 1.1.0.0 (7.11 MB) by Josep Virgili LLop
Modeling and control toolkit for orbiting spacecraft with robotic arms.

10 Downloads

Updated 03 Mar 2018

GitHub view license on GitHub

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.

Cite As

Josep Virgili LLop (2019). SPAcecraft Robotics Toolkit (https://www.github.com/NPS-SRL/SPART), GitHub. Retrieved .

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Updates

1.1.0.0

Updated description.

MATLAB Release Compatibility
Created with R2016b
Compatible with any release
Platform Compatibility
Windows macOS Linux

examples/ResolvedMotion

src/Simulink_library