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          SpaceDynX (pre-release version, Oct. 1999)

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SpaceDynX has been cloned from SpaceDyn, a MATLAB toolbox for 
space and mobile robots developed at the Space Robotics Lab 
(Dr. Kazuya Yoshida), Tohoku University. 

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.

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Free downloads: 

   SpaceDyn:  http://www.astro.mech.tohoku.ac.jp/home-e.html
   MaTX:      http://matx.ds.mei.titech.ac.jp/
   SpaceDynX: http://www.astro.mech.tohoku.ac.jp/home-e.html

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This pre-release version of SpaceDynX covers most of the 
functions of SpaceDyn v.1. A reference table is available in 
the appendix of this document.

So far, SpaceDynX has been tested with three models:

   1: ETS-7, a free-floating space robot
   2: A planar 3 DOF free-floating robot impacting with a rotating 
      object
   3: A 7 DOF model of the SSRMS manipulator 

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Reference:

   The main reference is the SpaceDyn manual. 
   There is no special manual for SpaceDynX.

Differences between  SpaceDyn and SpaceDynX:  

   The main difference between SpaceDyn and SpaceDynX is that the 
   former uses 3 dimensional arrays, whereas the latter does not. 
   This is mainly related to the description of the link centroid 
   position vectors cc. Users should consult the examples.

   Another difference is in the input variables of some of the 
   functions.  

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Contact and bug reports:

	nenchev@cc.hirosaki-u.ac.jp

 	Dragomir N. Nenchev
	Department of Intelligent Machines and System Engineering
	Hirosaki University
	3 Bunkyo-cho, Hirosaki, Aomori Prefecture
	036-8561 JAPAN
	phone & fax +81-172-39-3678

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Contributors:

    	Dragomir N. Nenchev
	Hideyuki Nomura
	Kenji Takasawa 

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     Appendix - Functions available in SpaceDyn v.1 and 
                SpaceDynX pre-release
***************************************************************
SpaceDyn      	SpaceDynX	dependencies
_______________________________________________________________
aw.m		-
calc_aa.m	calc_aa.mm  	rpy2dc		
calc_acc.m	calc_acc.mm 	calc_aa, calc_vel, cross
calc_gj.m	calc_gj.mm 	calc_hh, calc_jte, calc_jre,  
                                f_kin_e, j_num, tilde
calc_hh.m	calc_hh.mm  	calc_aa, calc_pos, calc_jr, 
                                calc_jt, tilde
calc_je.m	calc_je.mm 	calc_jte, calc_jre, j_num
calc_jr.m	calc_jr.mm 	calc_aa
calc_jre.m	calc_jre.mm   	calc_aa, j_num
calc_jt.m	calc_jt.mm	calc_aa, calc_pos, cross
calc_jte.m	calc_jte.mm	calc_aa, calc_pos, j_num, f_kin_j, 
                                f_kin_e
calc_pos.m	calc_pos.mm	calc_aa
calc_vel.m	calc_vel.mm	calc_aa, cross
cross.m		cross.mm	none
cx.m		cx.mm   	none
cy.m		cy.mm   	none
cz.m		cz.mm   	none
dc2eul.m	dc2eul.mm 	none
dc2rpy.m	dc2rpy.mm 	none
eul2dc.m	eul2dc.mm 	cx, cz
f_dyn.m		-
f_dyn_nb.m 	-
f_dyn_nb2.m	-
f_dyn_rk.m	-
f_dyn_rk2.m	-
f_kin_e.m	f_kin_e.mm	calc_aa, calc_pos, rpy2dc, j_num
f_kin_j.m	f_kin_j.mm	calc_aa, calc_pos, j_num
i_kine.m	-
int_eu.m	int_eu.mm	tilde
int_eu2.m	-
j_num.m		j_num.mm	none
r_ne.m		r_ne.m		calc_aa, calc_vel, calc_acc, cross
rpy2dc.m	rpy2dc.mm 	cx. cy, cz
test.m		example.mm
tilde.m		tilde.mm	none
tr2diff.m	tr2diff.mm	cross