Spatial Vector and Dynamics Software

Spatial vectors are 6D vectors that simplify the task of describing, analysing, and calculating rigid-body dynamics. This page contains links to software that implements spatial-vector arithmetic and dynamics calculations.

Note: If you were looking for teaching materials then you can find them here.

Software Package Spatial

This Matlab software package implements most of the algorithms in Rigid Body Dynamics Algorithms. Version 1 reportedly also works on GNU Octave (version 3.0.2). Version 2 includes several tutorial examples using Simulink, more extensive documentation, and greatly improved graphics.

Version 2 (current version)
Version 1: source code (zip file) documentation (lets you see the source code as well)

Other Software

Python library (author: Ralf Grosse-Kunstleve at LBNL CCI)
RBDL a rigid-body dynamics library in C++ by Martin Felis.

Last modified: Mar 2020
Author: Roy Featherstone