- Created: Thursday, 01 December 2011
Ndarts software provides algorithms for computing quantities associated with the dynamics of articulated, rigid-link, multibody systems. It is designed as a general- purpose dynamics library that can be used for the modeling of robotic platforms, space vehicles, molecular dynamics, and other such applications. The architecture and algorithms in Ndarts are based on the Spatial Operator Algebra (SOA) theory for computational multibody and robot dynamics developed at JPL. It uses minimal, internal coordinate models. The algorithms are low-order, recursive scatter/gather algorithms.
In comparison with the earlier
Darts++ software, this version has a more
general and cleaner design needed to
support a larger class of computational
dynamics needs. It includes a frames
infrastructure, allows algorithms to
operate on subgraphs of the system, and
implements lazy and deferred computation
for better efficiency.
Dynamics modeling modules such as Ndarts are core building blocks of control and simulation software for space, robotic, mechanism, bio-molecular, and material systems modeling.
This work was done by Abhinandan Jain
of Caltech for NASA’s Jet Propulsion
Laboratory. For more information, contact