DQ Robotics: A Library for Robot Modeling and Control

Dual quaternion algebra and its application to robotics have attracted considerable interest in the last two decades. Dual quaternions have great geometric appeal and easily capture physical phenomena inside an algebraic framework, which is useful for both robot modeling and control. Mathematical objects, such as points, lines, planes, infinite cylinders, spheres, coordinate systems, twists, and wrenches, are all well defined as dual quaternions. Therefore, simple operators are used to represent those objects in different frames, and operations, such as inner products and cross products, are used to extract useful geometric relationships among them.