Copyright (c) 1996 Andres Jaramillo-Botero, all rights reserved.

This implementation is provided "as is" without any express or implied warranty of any kind with respect to this software.  In particular the author shall not be liable for any direct, indirect, special, incidental or consequential damages arising in any way fromuse of this software. Some of the functions provided have not been completely tested and are by no means bug-free, others have not been made available yet due to continued work on the subject.  Any suggestions will be welcome, taking into account that the tools are supposed to serve as a teaching aid for those interested in learning about robotics.  Any additions will also be gratefuly accepted

General Support files

Linear System Solvers (Tridiagonal Systems)
Note: These are required for the solution of the inverse mass matrix
  • Conjugate Gradient
  • Block LU Factorization
  • Cyclic Reduction Factorization
    • Generalized solution for block tridiagonal systems
    • Symmetric case (Block tridiagonal)
Kinematics Dynamics
  • Forward

    • Articulated Body of Inertia (ABI)

    • Constraint Force Algorithm (CFA)
    • Newton Euler Inverse Mass (NEIMO)
    • Simplified (linearized) Newton-Euler
  • Inverse
    • Newton-Euler Formulation
    • Spatial Operators Newton-Euler formulation 
    • Lagrange-Euler (kinetic energy, potential energy ...) 
  • Extensions for spatial robotics
  • Extensions for multiple DOF per body using quaternions
Trajectory Planning Graphic Simulations (includes animations) Test cases

Last updated 06/04/97 (this page is no longer maintained) AJB

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