ReDySim

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


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