SPART - SPAcecraft Robotics Toolkit

SPART is a MATLAB/SIMULINK open-source modeling, simulation and control toolkit for orbiting spacecraft with robotic arms (i.e floating–base robots).

SPART is organized as a collection of MATLAB functions and Simulink blocks. These can be used to build plants, forward or inverse dynamic solvers and controllers.

Contents:

• Installing SPART
• SPART Tutorial
  • Kinematics
  • Differential Kinematics
  • Equations of Motion and inertia matrices
  • Forward Dynamics
  • Inverse Dynamics

Indices and tables

• Index
• Module Index
• Search Page