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We develop a collection of useful subroutines named SpaceDyn, in order to offer an open and free environment of numerical simulations to researchers both in robotics and space engineering fields. The SpaceDyn is a MATLAB toolbox for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems include a satellite with mechanical appendages, a free-flying space robot, a robotic system with structural flexibility, and a mobile robot, all of which make motions in the environment with or without gravity.
Kazuya Yoshida (Mon,) studied this question.