Spacedyn

SpaceDyn

Last Updated : July 20th, 2006.
( History / Changes )

The Spacedyn : a MATLAB Toolbox for Space and Mobile Robots

--- Version 1, Release 2 ---
July 20, 2006
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 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). 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 1, Release 2.
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 )
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.

SpaceDynX, a Good News for Non-MATLAB Users!

SpaceDynX has been cloned from SpaceDyn by Prof. Dragomir Nenchev, Hirosaki University, for non MATLAB users.
SpaceDynX is a set of functions compatible with the MaTX multi-platform package for math calculations, developed by Dr. Masanabu Koga, Tokyo Institute of Technology.
SpaceDynX is independent of MATLAB.
Please look at a README file for details.

Download
Please download from here.

spacedyn-v1r2.tar (102k)	The SpaceDyn source package (Version 1 Release 2)
doc.pdf (3200k)	Document
func_v1r2.txt (2k)	A list of the SpaceDyn functions
sample_v1r2.m (3k)	Demo Program
sdx.tar (82k)	The SpaceDynX package
sdx.tgz (12k)	The SpaceDynX package (compressed)
sdx-rm.txt (3.8k)	A README file for the SpaceDynX

Examples
Please take a look!

Demo 1	Three axis satellite with a flexible solar paddle
Demo 2	Application to ETS-VII, a free-flying space robot
--
Old Version

Version 1 Release 1

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	Space Robotics Lab Tohoku University Japan

Last Updated : July 20th, 2006. ( History / Changes )

Space Robotics Lab Tohoku University Japan

Last Updated : July 20th, 2006.
( History / Changes )

Space Robotics Lab
Tohoku University
Japan