The Recursive Dynamics Simulator (ReDySim) is a DeNOC-based recursive solver for dynamic analysis of robotic and multibody systems developed in MATLAB. It consists of efficient recursive inverse and forward dynamics algorithms for simulation and controlling open and closed-loop multibody systems. ReDySim delves into the Decoupled Natural Orthogonal Complement (DeNOC) based approach for dynamic modeling. Compared to commercially available software, dynamic analyses in ReDySim can be performed without creating a solid model. ReDySim can incorporate any control algorithm and trajectory planner with utmost ease. These abilities provide flexibility to users/researchers in including their customized algorithms with ease. ReDySim showed considerable improvement over commercial software such as ADAMS, RecurDyn and algorithms available in the literature regarding computational time and numerical accuracy. The gain in computational time is more significant as the number of links and joints in the system increases. The algorithms in ReDySim have also been used in RoboAnalyzer, a 3D model-based software for robot simulation, developed in the Mechanical Engineering Department at IIT Delhi..

1. Module for Fixed-Base Systems
This module can be used to perform inverse and forward dynamics for fixed-base open- and closed-loop robotic and multibody systems.
Basic Version: Click here to download this version .
GUI Version: Click here to download this version.

2. Module for Floating-Base Systems
This module can be used to perform inverse and forward dynamics of free-floating systems.
A. Legged Robots
This module can be used to perform inverse and forward dynamics of floating-base systems interacting with environment such as legged robots.
Basic Version: Click here to download this version.
GUI Version: Click here to download this version .

B. Space Robots
This module can be used to perform inverse and forward dynamics of free-floating systems such as space robots.
Basic Version: Click here to download this version.

3. Module for Symbolic Equation Generation: Open-loop fixed and floating-base Systems
This module can generate equations of motion for open-loop fixed- and floating-base systems in symbolic form.
Basic Version: Click here to download this version .

4. Module for Cable-driven Parallel Robots: Recursive Sub-system-level Lagrange Multiplier (RSSLM) Approach.
This module can be used for determining the kinetostatic configurations of cable-driven parallel robots and analysing their dynamics with different actuation modes. The dynamic model includes the effects of inertia, elastic, and damping properties of cables. The module builds on the basic module and was developed at IIT Madras.
Basic Version: Click here to download this version.
Note: All the versions are based on MATLAB and run on Windows, Ubuntu, and Mac OS.

A team of students and faculty at IIT Jodhpur and Delhi.

redysim.help@gmail.com