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


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

denavit-hartenberg dynamic dynamics kinematics robot robotics scara

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README 

        
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version 2.2a October 2009 tested with MATLAB MATLAB 7.6.0.324 R2008a

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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.



Two versions of the library are currently available

(see http://robotics.unibs.it/SpaceLib/ for code, description and user's manual):



	* 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.



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patch NOVEMBER 2001



the function mod() has been renamed modulus() to avoid conflict with the

function mod() contained in the new MATLAB versions

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patch FEBRUARY 2003



Some bugs fixed.



And also improved compatibility with release 12.

Some functions worked well with previous versions but failed with version 12 (e.g. functions dist() and mod() had to be renamed to avoid conflicts, some vector converted to row to column, logical operator precedence checked, etc...)



Some minor bugs have been also corrected.

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patch OCTOBER 2003



Some bugs fixed.

Improved documentation

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patch JANUARY 2004



Manual improved and supplied in PDF format.



Some bugs fixed.

Functions normal, normal_g and psedot added.

Functions solve renamed to avoid conflicts with MATLAB version 12.

          

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patch November 2005



manual restyled and extended

minor bugs fixed

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

          

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patch October 2009



minor bugs fixed

eliminated problems with lower/upper case mismatching

simplified installation

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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 di Brescia

Dip. Ing. Meccanica

Via Branze 38

25123 Brescia, Italy.



phone +39/030 3715425

fax   +39/030 3702448



e-mail: giovanni.legnani @ unibs.it

www:    http://bsing.ing.unibs/~glegnani

www:    http://spacelib.unibs.it