SpaceLib© is a library
for 3D Kinematics and Dynamics of system of rigid bodies. It is currently
used in Robotics and Biomechanics. The library is based on an extension of
the 4x4 transformation matrix approach by Denavith and Hartenberg .
The present extension adds 4x4 matrices for the velocity and accelerations
(angular and linear) plus 4x4 matrices for forces (and torques), momentum
(angular and linear) and inertia.
Three versions of the library are
available for numeric applications (C-language, Matlab) and one for
symbolic calculation in Maple (requires version 9.5).
SpaceLib
is free available for NON profit
purposes. Free use includes scientific and educational activities.
The use of SpaceLib© should be mentioned in papers
reporting work developed with the help of this library. For commercial
activities, please contact the author.
giovanni.legnani @ ing.unibs.it
