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https://github.com/alessandro-barbieri/spacelib


https://github.com/alessandro-barbieri/spacelib

denavit-hartenberg dynamic dynamics kinematic kinematics robot robotics scara

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README 

        
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 Spacelib is supplied in a ZIP file.

 To install it Unzip it using  -d option to restore the path names

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Information on the last patches at the end of this file

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What is SPACELIB©?

SPACELIB is a software library useful 

for the realization of programs for the kinematic and dynamic 

analysis of systems of rigid bodies. 

This library is currently used in ROBOTICS and BIOMECHANICS. 

It has been developed at the Mechanical Engineering Department 

of the University of Brescia.



Three versions of the library are currently available:



	* c language (numerical computation)

	* MATLAB     (numerical computation)

	* MAPLEV     (symbolic manipulation)



The library is offered with:



	* full source code

	* a full reference manual

	* commented application examples

	* papers describing the mathematic theory which 

          is at the base of spacelib



The functions contained in the library are devoted to:



* basis operations on matrices 

    sum, product, (pseudo)inversion, ...

* basic operation on points, lines and planes

    line between two points

    plane defined by three points

    intersection / projection of point, lines on planes

    ...

* basic operation on vectors

    module, dot product, cross product, ...

* transformation matrices (rototranslations)

* velocity and acceleration matrices

* Cardan/Euler angles

    transformation of angles to/from rotation matrices

    derivative of angles to/from angular velocity and acceleration

* linear systems



The library is intended as an aid in writing programs for the 

analysis of systems of rigid bodies following a particular 

methodology based on 4×4 matrices. This approach can be 

considered a powerful generalization of the Transformation 

Matrix Approach  proposed by Denavit and Hartenberg.

Shortly the position and the orientation of each body is 

represented by 4×4 transformation matrices.

Two others matrices called W and H are utilized for the velocity 

and the acceleration (linear and angular).

Additional matrices are used for the momentum, forces, torques, 

inertia.



The main feature of this methodology is that it allows the 

development of the analysis of systems of rigid bodies in a 

systematic way simplifying the symbolic manipulation of equations 

as well as the realization of efficient numerical programs.



----------------------------------------------------------------

The file listfile.txt contained in the zip file lists 

of all the files of the library, of the examples and of the 

documentation. 

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The library is free available for non-profit activities including 

scientific and educational purposes.

See also the "disclaimer warranties" statement in the manual.



For commercial activities please contact:

Giovanni Legnani

Università degli Studi di Brescia

Dipartimento di Ingegneria Meccanica ed Industriale

Via Branze 38

25123 Brescia, Italy.



phone +39/030 3715425

fax   +39/030 3702448



e-mail: giovanni.legnani @ unibs.it



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patch February 2006



fixed bugs in macros:



Wtocard(m,W,q1,q2,qp1,qp2)

Wtoeul(m,W,q1,q2,qp1,qp2)     

Wtonaut(m,W,q1,q2,qp1,qp2)



Htocard(m,W,H,q1,q2,qp1,qp2)

Htoeul(m,W,H,q1,q2,qp1,qp2)     

Htonaut(m,W,H,q1,q2,qp1,qp2)

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patch November 2005



new manual in PDF restyled and improved



minor bugs fixed

manual improved and extended

few new functions added (dhtomstd, psedot, crosstom, translat, translat2, translat24)

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patch January 2003 (function interslpl)

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patch November 2001 (function pseudo_inv)