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SPAcecraft Robotics Toolkit

version (5.67 MB) by Josep Virgili LLop
Modeling and control toolkit for orbiting spacecraft with robotic arms.


Updated 03 Mar 2018

From GitHub

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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

Cite As

Josep Virgili LLop (2021). SPAcecraft Robotics Toolkit (, GitHub. Retrieved .

Comments and Ratings (1)

Mehmet SEN

MATLAB Release Compatibility
Created with R2016b
Compatible with any release
Platform Compatibility
Windows macOS Linux

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