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Note

This tutorial is focused on DQ Robotics for Matlab (master branch). However, some hints for Python and C++ are also included.

Warning

This tutorial assumes that you know the basic concepts about dual quaternions and the basic operations in Matlab. If this is not your case, we recommend checking this book and taking this course: dqrobotics/learning-dqrobotics-in-matlab before this tutorial.

Disclaimer

The videos shown in this tutorial (and this tutorial itself) must be used as a reference. You could see different behaviors in your implementations due to software updates, versions, operating systems, etc.

Issues

If you find bugs/typos or have any issues, please let us know. juanjqo/tutorial-dqrobotics-with-coppeliasim#issues

About this tutorial

This tutorial is brought to you by Juan José Quiroz Omaña. The examples are implemented mainly on Ubuntu 20.04 64bits and Windows 11 using Matlab 2023a, and CoppeliaSim 4.5.1.

Contributors

Acknowledgments

• Camila Andrea Quiroz Omaña for the capybara’s drawings.

Contents

1. Preamble

   Install DQ Robotics and CoppeliaSim.

   • Installation

   • One scene to rule them all

2. Fundamentals on CoppeliaSim

   Some basic topics about CoppeliaSim

3. Static world

   Some topics on non-dynamic scenes

4. Dynamic world

   Some topics on dynamic scenes

Recommended References

YouTube: DQ Robotics

[1]

Adorno, B.V., 2017. Robot Kinematic Modeling and Control Based on Dual Quaternion Algebra—Part I: Fundamentals (link).

[2]

Adorno, B.V., 2011. Two-arm manipulation: From manipulators to enhanced human-robot collaboration (Doctoral dissertation) (link).

[3]

Marinho, M.M., Adorno, B.V., Harada, K. and Mitsuishi, M., 2019. Dynamic active constraints for surgical robots using vector-field inequalities. IEEE Transactions on Robotics, 35(5), pp.1166-1185 (link).

[4]

Adorno, B.V and Marinho, M.M., “DQ Robotics: A Library for Robot Modeling and Control,” in IEEE Robotics & Automation Magazine, vol. 28, no. 3, pp. 102-116 (link).