0

Full Content is available to subscribers

Subscribe/Learn More  >

M3tk: A Robot Mobility and Manipulation Modeling Toolkit

[+] Author Affiliations
Rudranarayan Mukherjee, Steven Myint, Johnny Chang, Isaac Kim, Jack Craft, Marc Pomerantz, Junggon Kim, Lee Peterson

Jet Propulsion Laboratory, California Institute of Technology, Pasadena, CA

Paper No. DETC2014-34832, pp. V007T05A003; 4 pages
doi:10.1115/DETC2014-34832
From:
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 7: 2nd Biennial International Conference on Dynamics for Design; 26th International Conference on Design Theory and Methodology
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4640-7
  • Copyright © 2014 by ASME

abstract

In this brief paper, we present an overview of the M3tk software for modeling robotic systems. M3tk contains basic kinematics, inverse kinematics, dynamics and inverse dynamics capabilities for articulated multi-rigid body systems. Written in C++, the software features a core kinematics and dynamics library, a linear algebra library specialized for use with the algorithms in M3tk, and a Graphical User Interface with full 3D visualization. It contains implementations of multiple contact mechanics models and the ability to model terrain through heightfields. M3tk also features an ability to model terrains with spatially distributed properties. There is also an ability to manipulate objects using a joystick. This paper summarizes M3tk without delving into the details of the code.

Copyright © 2014 by ASME

Figures

Tables

Interactive Graphics

Video

Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

NOTE:
Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In