CASPR is a opensource simulation tool, written in MatLab. It is developed for research purposes in the area of tendon-driven robots, so-called CDPRs (Cable-driven parallel robots). Basically the simulation software is able to perform analysis in the following fields of study:
- Dynamics and Control
- Forward Dynamics
- Inverse Dynamics
- Motion Control
- Kinematics (Forward Kinematics, Inverse Kinematics)
- Workspace Analysis
- Design Optimisation
CASPR provides a GUI, which allows easy and intuitive access to the to main functions. In general, one starts by choosing a robotic model. These models are simplifications of the actual robots one is interested in. Robot models in CASPR are basically build with three different primitives
where links and cables are straight lines with predefined start and end positions in space and joints provide the connection between the links.
The difference between CASPR and CASPROS is basically that CASPROS works completely on C++ and is accessible by it also does not provide a GUI and outputs not cable lengths, but motor commands to control real robots. So CASPROS is the linkage we need to control Roboy, while CASPR offers us a tool for simulation and research purposes, e.g. validating our robot models.