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...The simulation is particularly valuable during the early stages of algorithm development and implementation as an aid in accelerating the learning curve for any Guest Scientist for SPHERES. Algorithms may be implemented in C or Embedded MATLAB and executed in the MATLAB simulation environment to verify general desired behavior. With some limitations, the code used in the simulation can be directly transferred to the SPHERES hardware. We are sharing this project with the public to gather more interest for SPHERES Guest Scientists. Feel free to use and contribute to this code base, just don't forget to credit the MIT Space Systems Lab if you distribute any results.

Symofros is a robotics modeling software originally created by the Canadian Space Agency. Symofros basic functions include modeling Kinematics, Non-linear dynamics, Linear dynamics, Dynamics for constrained systems, and Systems with flexible links.