TMTDyn is a Matlab based package to automate the derivation of TMT Equation of Motion (EOM) for hybrid rigid-continuum body dynamic systems with constraints and contacts, their linear modal analysis, and nonlinear controller design.

Choose one of the version folders above. The latest working version is v3!

Visit my Youtube Channle for some tutorials. Get in touch via email or here for help with your modeling problems!

Please cite our relevant papers if you decided to use this package or methods presented in it:

• S. M. H. Sadati et al., ‘TMTDyn: A Matlab package for modeling and control of hybrid rigid–continuum robots based on discretized lumped systems and reduced-order models’, The International Journal of Robotics Research, p. 0278364919881685, Jan. 2020, doi: 10.1177/0278364919881685.
• S.M.H. Sadat, A. Shiva, S. E. Naghibi, et al., “Reduced Order vs. Discretized Lumped System Models with Absolute and Relative States for Continuum Manipulators,” presented at the Robotics: Science and Systems (RSS), Freiburg, Germany, 2019.
• S. M. H. Sadati, S. Zschaler, and C. Bergeles, ‘A Matlab-Internal DSL for Modelling Hybrid Rigid–Continuum Robots with TMTDyn’, in 6th Workshop on Model-Driven Robot Software Engineering (MORSE), Munich, Germany, 2019, p. 9.
• S.M.H. Sadati, S. Naghibi, and M. Naraghi, “An Automatic Algorithm to Derive Linear Vector Form of Lagrangian Equation of Motion with Collision and Constraint,” Procedia Computer Science, vol. 76, pp. 217–222, 2015.