Arboris

0.1.0 Pre7-1 LGPL (GNU Lesser General Public License)    
  UNRATED

  733 downloads

A rigid body dynamics and contacts simulator

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Arboris is a rigid body dynamics and contacts simulator application written in Python.

Arboris includes a generic and easily extensible set of joints (singularity-free multi-dof joints, non-honolomic joints, etc.) which are used to model open rigid mechanisms with a minimal set of state variables.

The dynamics of these systems are computed in a form similar to the Boltzmann-Hamel equations.

Using time-stepping and a semi-implicit Euler integration scheme, a first-order approximation of the model is also computed. This allows for additional constraints such as contacts and kinematic loops to be solved using a Gauss-Seidel algorithm.

Arboris is mostly useful for robotic applications and human motion studies. The python language makes it particularly suited for fast-paced development (prototyping) and education.
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Last updated on March 19th, 2010

#body dynamics #contacts simulator #body #dynamics #simulator #contacts

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