DQ Robotics is a standalone open-source (LGPLv3) library for robot modelling and control. It provides dual quaternion algebra and kinematic calculation algorithms in Python3, Matlab, and C++11.
Important
Most systems will return errors if you do not use a venv.
Enviroments such as pip have started to enforce the use of isolated enviroments, such as venv.
python3 -m venv venv
source venv/bin/activatepython3 -m pip install dqroboticsImportant
Since 8d8eb88, interface packages have been split away from the main library.
If, for instance, DQ_CoppeliaSimInterfaceZMQ is needed, instal it as follows.
python3 -m pip install dqrobotics-interface-coppeliasim-zmqCaution
If you attempt to install outside of a venv, you will get an error in most systems.
error: externally-managed-environment
...
hint: See PEP 668 for the detailed specification.
See how to address that here.
Installation instructions for C++11, MATLAB, and interface packages are available at the project's readthedocs.
Kinematic modeling and control of serial-link robotic manipulators using dqrobotics: From zero to hero
Whether you are a beginner or advanced user, you're welcome to ask and answer questions about how to use the library, etc. in our Q&A section. Before you ask a new question, we ask members to skim through the forum to verify if their question has already been answered.
If you have used this library as part of your academic work, cite it as follows
@article{Adorno-Marinho2020,
archivePrefix = {arXiv},
arxivId = {1910.11612},
author = {Adorno, Bruno Vilhena and Marinho, Murilo Marques},
doi = {10.1109/MRA.2020.2997920},
eprint = {1910.11612},
issn = {1070-9932},
journal = {IEEE Robotics {\&} Automation Magazine},
pages = {102--116},
month = sep,
volume = {28},
number = {3},
title = {DQ Robotics: A Library for Robot Modeling and Control},
url = {https://ieeexplore.ieee.org/document/9136790/},
year = {2021}
}DQ Robotics is a standalone, fully moderated open-source library, with a core developer team who determines the directions of new developments. To ensure quality control, the team follows a scrict procedure for new pull requests, described here.
Anyone wanting to propose a new modification or introduce new functionality should reach out to the team first, as proposed modifications that do not comply with the development philosophy and style, do not follow the library's architecture, don't introduce a clear and general benefit to the library other than to the person who proposed the modification will likely be rejected with no further discussion.
A good place to initiate such a discussion might be in the discussion forum.
