SPAcecraft Robotics Toolkit

Modeling and control toolkit for orbiting spacecraft with robotic arms.
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更新时间 2018/3/3

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 .

MATLAB 版本兼容性
创建方式 R2016b
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examples/ResolvedMotion

src/Simulink_library

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版本 已发布 发行说明
1.1.0.0

Updated description.

1.0.0.0

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