DQ Robotics: A Library for Robot Modeling and Control

Bruno Vilhena Adorno, Murilo Marques Marinho

Research output: Contribution to journalArticlepeer-review


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.

Original languageEnglish
Article number21081772
Pages (from-to)102-116
Number of pages15
JournalIEEE Robotics and Automation Magazine
Issue number3
Early online date8 Jul 2020
Publication statusPublished - 1 Sept 2021


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