This software package (a cross-platform, object-oriented, C++ class library) supports dynamic simulation of a large class of tree-structured articulated mechanisms having star topologies. These systems contain a single central body called a reference member which can be fixed or mobile, and having a number of serial chains. This class includes but are not limited to multiple industrial manipulators mounted on fixed bases and legged mobile robots. Code to compute approximate hydrodynamic forces are also available to simulate underwater robotic systems of this class including submarines (ROVs, AUVs, etc.) with one or more robotic manipulators. Joint types supported include the standard revolute and prismatic classes, as well as an efficient implementation for ball joints.

Current Version:   3.0

License Type:   GPL

Home Site:

Source Code Availability:   Yes

Available Binary Packages:

  • Debian Package:   No
  • RedHat RPM Package:   No
  • Other Packages:   No

Targeted Platforms:

Linux, Solaris, IRIX, WinNT

Software/Hardware Requirements:

C++ compiler

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