动力学软件库

目录

Pinocchio

RBDL

KDL

FROST

DRAKE

贝克利布料仿真 ARCSim:

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Pinocchio

Pinocchio

Pinocchioinstantiates the state-of-the-art Rigid Body Algorithms for poly-articulated systems based on revisited Roy Featherstone's algorithms. Besides, Pinocchio provides the analytical derivatives of the main Rigid-Body Algorithms like the Recursive Newton-Euler Algorithm or the Articulated-Body Algorithm.

RBDL

RBDL - Rigid Body Dynamics Library

RBDL is a highly efficient C++ library that contains some essential rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics a