ReDySim

The Recursive Dynamics Simulator (ReDySim) is a MATLAB-based recursive solver for dynamic analysis of robotic and multibody systems. It essentially consist of very efficient recursive inverse and forward dynamics algorithms for simulation and control of open and closed-loop multibody systems. ReDySim delves upon the concept of Decoupled Natural Orthogonal Complement (DeNOC) based approach for dynamic modeling. In comparison to commercially available software, dynamic analyses in ReDySim can be performed without creating solid model. ReDySim has capability to incorporate any control algorithm and trajectory planner with utmost ease. These abilities provide flexibility to user/researcher in incorporating their customized algorithms with ease. ReDySim showed considerable improvement over commercial software such as ADAMS, RecurDyn and algorithms available in literature in terms of the computational time and numerical accuracy [1]. The gain in computational time is more as the number of links and joints in the system increase. The algorithms in ReDySim have also been used in RoboAnalyzer, a 3D model based software for robot simulation, developed in Mechanical Engineering Department at IIT Delhi.


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Reference

1. Shah S. V., Saha S. K., and Dutt J. K., “Dynamics of Tree-type Robotic Systems,”  Intelligent Systems, Control and Automation: Science and Engineering Bookseries, Springer, Netherlands (ISBN 978-94-007-5005-0).