dqrobotics

DQ Robotics is a standalone open-source library for robot modeling and control using dual quaternion algebra.

DQ Robotics is a library for robot modeling and control using dual quaternion algebra that is computationally efficient, easy to use, and simple enough to be used for self-study and education and sufficiently efficient for deployment on real applications. For instance, DQ Robotics has already been used on real platforms such as cooperative manipulators for surgical applications, mobile manipulators, and humanoids, among several other robotic systems. The Matlab version is ideal if you want to test your ideas fast while having convenient visualization tools.