SPAcecraft Robotics Toolkit

Modeling and control toolkit for orbiting spacecraft with robotic arms.

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.