RTQL8 (pronounced “articulate”): Dynamic Multibody Simulator


RTQL8 is an open source library for developing kinematic and dynamic applications in robotics and computer animation. The multibody simulator is designed to aid development of motion control algorithms. RTQL8 uses generalized coordinates to represent articulated rigid body systems and computes Lagrange’s equations derived from D’Alemberts principle to describe the dynamics of motion. In contrast to many popular physics engines which view the simulator as a black box, RTQL8 provides full access to internal kinematic and dynamic states, such as mass matrix, Coriolis and centrifugal force, transformation matrices and their derivatives, etc. RTQL8 also provides efficient computation of Jacobian matrices for arbitrary points in arbitrary coordinate frames.


RTQL8 is written in C++. It can be installed on Mac OSX, Unix/Linux, and Windows.


Download:

RTQL8.zip (including all source code and tutorials)

or you can fork it from https://bitbucket.org/karenliu/rtql8


Tutorial:

RTQL8 tutorial: rtql8-tutorial.pdf

Multibody dynamics tutorial: dynamics-tutorial.pdf

LCP contact handling tutorial: lcp-tutorial.pdf


Contributors:

Karen Liu

Sumit Jain

Yuting Ye

Jeongseok Lee

Sehoon Ha

Jie Tan

Chen Tang

Yunfei Bai

Kristin Siu


Acknowledgments:

We thank Prof. Mike Stilman, Tobias Kunz and the Humanoid Robotics Lab for suggesting the use of Eigen and FCL libraries as well as their contributions to improving the efficiency of the code. We also thank Jeff Bingham, Stelian Coros, and Marco da Silva for providing valuable comments and discussion on formulation and implementation of dynamic equations.


License:

/* RTQL8, Copyright (c) 2011, Georgia Tech Research Corporation

* All rights reserved.

*

* Georgia Tech Graphics Lab

*

* This file is provided under the following "BSD-style" License:

*   Redistribution and use in source and binary forms, with or

*   without modification, are permitted provided that the following

*   conditions are met:

*   * Redistributions of source code must retain the above copyright

*     notice, this list of conditions and the following disclaimer.

*   * Redistributions in binary form must reproduce the above

*     copyright notice, this list of conditions and the following

*     disclaimer in the documentation and/or other materials provided

*     with the distribution.

*   * This code incorporates portions of Open Dynamics Engine

*     (Copyright (c) 2001-2004, Russell L. Smith. All rights

*     reserved.) and portions of FCL (Copyright (c) 2011, Willow

*     Garage, Inc. All rights reserved.), which were released under

*     the same BSD license as below

*

*   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND

*   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,

*   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF

*   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE

*   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR

*   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,

*   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT

*   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF

*   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED

*   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

*   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

*   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

*   POSSIBILITY OF SUCH DAMAGE.

*/