RigidBodyDynamics

RigidBodyDynamics implements various rigid body dynamics and kinematics algorithms.

Design features

Some of the key design features of this package are:

Functionality

Current functionality of RigidBodyDynamics includes:

There is currently partial support for closed-loop systems (parallel mechanisms); more features will be added soon in this area. Contact is not yet supported.

Installation

Installing Julia

Download links and more detailed instructions are available on the Julia website.

Installing RigidBodyDynamics

To install the latest tagged release of RigidBodyDynamics, simply run

Pkg.add("RigidBodyDynamics") 

To check out the master branch and work on the bleeding edge, additionally run

Pkg.checkout("RigidBodyDynamics")

RigidBodyDynamics currently only supports version 0.5 of Julia.

About

This library was inspired by IHMCRoboticsToolkit and by Drake.

Most of the nomenclature used and algorithms implemented by this package stem from the following resources:

Related packages

Contents

Citing this library

@misc{rigidbodydynamicsjl,
 author = "Twan Koolen and contributors",
 title = "RigidBodyDynamics.jl",
 year = 2016,
 url = "https://github.com/tkoolen/RigidBodyDynamics.jl"
}