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rbdl/rbdl

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

Stack
C++ CMake
GitHub topics
#articulated-body-algorithm #forward-dynamics #inverse-dynamics #inverse-kinematics #multi-body-dynamics #robotics
Updated
2026-10-28
Lists
1 list mention
First commit
2010-07-30
History
1 history point
License
NOASSERTION
Issues
28 open
Sign in to like rbdl/rbdl
709
stars
Forks
169
Commits
1,400 commits
Star growth, last 7 days
0 0.0%
Commit velocity, last 7 days
0 0.0%
GitHub
TriPed-Robot/trip_kinematics

Python package for inverse kinematic calculations of hybrid serial parallel robots

Stack
Python pip
GitHub topics
#closed-chain #hybrid-chain #inverse-kinematics #kinematic-modeling #kinematics #manipulator
Updated
2022-05-06
Lists
1 list mention
First commit
2021-03-23
History
1 history point
License
MIT
Issues
21 open
Sign in to like TriPed-Robot/trip_kinematics
44
stars
Forks
6
Commits
435 commits
Star growth, last 7 days
0 0.0%
Commit velocity, last 7 days
0 0.0%
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