Free download: SpaceLib

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 @

interesting links:

To download the code or the documentation just click on the appropriate cell in the following table. All the files are in windows ZIP file format. A README.TXT file is also available.

The library can be also downloaded from the ISB/TGCS web site, on the MathWorks file exchange site and on the Maple Application Center site.

Source code


documentation in PDF format

alternative download servers

Papers on Theory


C-language library - March 2006


Matlab library - November 2009

MathWorks file exchange

MAPLE 9.5 library (symbolic manipulation)

Thanks to Dino Manara

November 2005

Maplesoft application center


a c++ SpaceLib extension supplied by P.Righettini and R.Garziera


Under construction


The files includes:

The topics covered by the library are: