SPAcecraft Robotics Toolkit

Version 1.1.0.0 (5.67 MB) by Josep Virgili LLop
Modeling and control toolkit for orbiting spacecraft with robotic arms.
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Updated 3 Mar 2018
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SPART is a MATLAB/SIMULINK open-source modeling and control toolkit for orbiting spacecraft with robotic manipulators (i.e., manipulators with a floating base).
SPART is organized as a collection of MATLAB functions and Simulink blocks. These can be used to build plants, forward/inverse dynamic solvers, and controllers.

SPART allows to compute:
-Kinematics - rotation matrices, position vectors and homogeneous transformation matrices.
-Differential kinematics - Jacobians and operational space velocities.
-Dynamics - Generalized inertia and convective inertia matrices.
-Forward/Inverse dynamics (including the floating base case).

Additionally, SPART supports:
-Symbolic computation of all the kinematic and dynamic magnitudes.
-Automatic Code Generation support (e.g., for Simulink or ROS nodes).
-URDF files (experimental support).

Up to date documentation and tutorials are available at spart.readthedocs.org.

Cite As

Josep Virgili LLop (2026). SPAcecraft Robotics Toolkit (https://github.com/NPS-SRL/SPART), GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2016b
Compatible with any release
Platform Compatibility
Windows macOS Linux
Tags Add Tags

examples/DH_Tutorial

examples/ResolvedMotion

examples/Symbolic

examples/URDF_Tutorial

examples/Workspace

src/attitude_transformations

src/kinematics_dynamics

src/robot_model

src/utils

tests

examples/ResolvedMotion

src/Simulink_library

Versions that use the GitHub default branch cannot be downloaded

Version Published Release Notes
1.1.0.0

Updated description.
1.0.0.0

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.