Robotran C Documentation
Robotran C Documentation

The modelling and analysis of multibody systems can be fully achieved in the C programming language. It allows to prototype a model in a efficiency computation time by leveraging using compiled language and at the same time is compatible with simulink. The C modules for Robotran are called MBSysC.

MBSysC Modules

The MBsysC modules allow to perform different dynamic and kinematic computation on the multibody system. These modules operate on the data structures MbsData.

The following modules are available :

Todo:
add ref on how to do direct kin (simply use sensor)

Data Structures

MBsysC is based on one data structure (MbsData) that contains information about :

Each module returns its results in a specific structure denoted Mbs<ModuleName>.