SPART - SPAcecraft Robotics Toolkit
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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:
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.. toctree::
   :maxdepth: 2

   Installation
   Tutorial


Indices and tables
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* :ref:`genindex`
* :ref:`modindex`
* :ref:`search`