PrRobot Multibody Dynamics Library
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This is an internal coordinate multibody dynamics system derived from work done by Kyong-Sok Chang as part of his Ph.D. research at Stanford with advisor Oussama Khatib.

This project was contributed to SimTK by Oussama Khatib, with the help of James Warren. It is based on the robot simulation code developed by Kyong-Sok (KC) Chang as part of his thesis.

Chang, Kyong-Sok; Khatib, Oussama. Efficient Algorithm for Extended Operational Space Inertia Matrix. Proc. 1999 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems.

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Last updated
Mar 17, 2006
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James Warren
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Michael Sherman

News

PrRobot now available

May 26, 2005

The PrRobot source code is checked in to SimTK.org along with CMake files which allow it to be built using Visual.NET or with make (or Eclipse).

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SimTK is maintained through Grant R01GM124443 01A1 from the National Institutes of Health (NIH). It was initially developed as part of the Simbios project funded by the NIH as part of the NIH Roadmap for Medical Research, Grant U54 GM072970.

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