TY - JOUR
T1 - DQ Robotics: A Library for Robot Modeling and Control
AU - Adorno, Bruno Vilhena
AU - Marques Marinho, Murilo
N1 - Funding Information:
We would like to thank all users of the DQ Robotics library for their valuable feedback and bug reports, especially Juan José Quiroz-Omaña, Mateus Rodrigues Martins (who also contributed to some parts of earlier versions of the C++ code), and other members of the MACRO research group at the Federal University of Minas Gerais. This work was supported by CNPq, CAPES, FAPEMIG, and JSPS KAKENHI grant 19K14935. Bruno Vilhena Adorno is supported by CNPq grants 424011/2016-6 and 303901/2018-7.
Publisher Copyright:
© 1994-2011 IEEE.
PY - 2021/9/1
Y1 - 2021/9/1
N2 - 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.
AB - 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.
U2 - 10.1109/MRA.2020.2997920
DO - 10.1109/MRA.2020.2997920
M3 - Article
SN - 1070-9932
VL - 28
SP - 102
EP - 116
JO - IEEE Robotics and Automation Magazine
JF - IEEE Robotics and Automation Magazine
IS - 3
M1 - 21081772
ER -