SpaceLib

3D rototraslations, Kinematics and Dynamics of multibody systems (Robotics and Biomechanics)

SPACELIB© is a library for 3D Kinematics and Dynamics of system of rigid bodies. Is currently used in Robotics and Biomechanics.
It is based on an powerfull extension of the 4*4 transformation matrix approach by Denavith and Hartenberg. The present extension adds 4*4 matrices for the velocity and accelerations (angular and linear) plus 4*4 matrices for forces (and torques), momentum (angular and linear) and inertia.

Two versions of the library are available for numeric applications (C-language, MATLAB) and one for symbolic calculation (Maple).

Spacelib is free available for NON profit purposes. Free use includes scientific and educational activities. The use of SPACELIB© should be mentioned in papers reporting work developed with the help of this library. For commercial activities, please contact the author.

The files includes:

* full MATLAB, c-languace, Maple source code
* full reference manual in pdf format
* commented application examples
* papers describing the mathematical bases (pdf format).

The topics covered by the library are:

transformation matrices (rototranslations)
velocity, acceleration, force, momentum matrices
Cardan/Euler angles basic operations on matrices, vectors, planes, lines and points linear systems: solutions, (pseudo)inverse of matrices

g. Legnani

[e-mail]

http://bsing.ing.unibs.it/~glegnani/
http://robotics.ing.unibs.it
http://SpaceLib.ing.unibs.it

Dip.Ing.Meccanica e Industriale
Università di Brescia
Via Branze 38
25123 Brescia
Italy

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