PrRobot Multibody Dynamics Library
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Technical Papers

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Efficient algorithm for extended operational space inertia matrix
May 5, 2005
Author: Michael Sherman
This 1999 paper by Chang & Khatib covers the basic theory behind the PrRobot software.

Operational space dynamics: efficient algorithms for modeling and control of branching mechanisms
May 5, 2005
Author: Michael Sherman
This 2000 paper by Chang & Khatib expands on the PrRobot theory and shows how to use it for control.

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Last updated
Mar 17, 2006
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James Warren
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Michael Sherman

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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