SPART
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NPS-SRL
Open-source modeling and control toolkit for mobile-base robotic multibody systems
In function [t0dot,tLdot]=Accelerations(t0,tL,P0,pm,Bi0,Bij,u0,um,u0dot,umdot,robot) line 49, %Base-link Omega0=[SkewSym(t0(1:3)), zeros(3,3); zeros(3,3), zeros(3,3)]; This should be: Omega0=[SkewSym(t0(1:3)), zeros(3,3); zeros(3,3), SkewSym(t0(1:3))]; right?
I'm under the impression that there's a mismatch in the attitude representation of the base (quaternion q0) in the Plant model of the simulink library. The kinematic equation of the...
Not sure whether this code is maintained, but for anyone who might find this useful: I believe there is an error in the velocity/twist computation at line 60 of (src/kinematics_dynamics/Velocities.m)....
Can this toolbox model the kinematics, dynamics of a two-armed spaceman? I want to build a dual-arm space robot model by DH method, is it feasible？ If DH method is...
I've got a strange mismatch (see image below) between linear position and velocity when comparing results of the SPART FD and an identical model in Simulink. I'm trying to verify...
