MultiBody Dynamics Estimator (MBDE) ： MATLAB工具包.zip

### MATLAB Toolbox: State Observers for Multibody Dynamic Systems ### Toolbox features ------------------ * Entirely based on MATLAB classes. * A generic framework for kinematics and dynamics simulation of rigid multibody models of mechanisms. * [`mbeKinematicsSolver`](toolbox_mbe/mbeKinematicsSolver.m): Solve kinematic problems (position, velocity, acceleration). * [`mbeDynFormulationBase`](toolbox_mbe/mbeDynFormulationBase.m): Abstract base of all dynamics formulations. * Mechanical systems can be easily defined by users by inheriting from the abstract base `mbeMechModelBase`. Predefined mechanisms: * `mbeMechModelFourBars1`: 4 bars linkage * `mbeMechModelFiveBars1`: 5 bars linkage * Any number of sensors can be dynamically attached to any mechanism. See base abstract class `mbeSensorBase` * Several implemented state observers (base class `mbeEstimatorBase`). Licensing ---------- MBDE-MATLAB is licensed by University of A Coruña and University of Almería under GNU GPL v3. Citation -------------- This toolbox was introduced in: * E. Sanjurjo, J.L. Blanco, J.L. Torres, M.A. Naya, "Testing the efficiency and accuracy of multibody-based state observers", ECCOMAS Thematic Conference on Multibody Dynamics, 2015. [[PDF](http://ingmec.ual.es/~jlblanco/papers/sanjurjo2015eccomas_mbs_observers.pdf)] * E. Sanjurjo, M.Á. Naya, J.L. Blanco-Claraco, J.L. Torres-Moreno, A. Giménez-Fernández. Accuracy and efficiency comparison of various nonlinear Kalman filters applied to multibody models. Nonlinear Dyn (2017). doi:10.1007/s11071-017-3354-z [[LINK](http://rdcu.be/oY1f)] * E. Sanjurjo, D. Dopico, A. Luaces, M.Á. Naya. State and force observers based on multibody models and the indirect Kalman filter. Mechanical Systems and Signal Processing. doi:10.1016/j.ymssp.2017.12.041 [[LINK](https://www.sciencedirect.com/science/article/pii/S0888327017306787)] Installation -------------- Just add the directory `toolbox_mbe` to your MATLAB `PATH`, e.g. from the menu "Set path" in the "Home" ribbon. Demos ---------- * [`demo_dynamic_simulation.m`](demo_dynamic_simulation.m): Runs a dynamic simulation for a given mechanism. * [`demo_run_observer_offline.m`](demo_run_observer_offline.m): Runs an offline estimation of a given mechanism, with a given set of sensors and using the especific estimation method.