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. quaternions great geometric appeal easily capture physical phenomena inside an algebraic framework, which is useful for both robot modeling control. Mathematical objects, such as points, lines, planes, infinite cylinders, spheres, coordinate systems, twists, wrenches, are all well defined dual quaternions. Therefore, simple operators used represent those objects different frames, operations, inner products cross products, extract relationships among them.