Why to use KDL?

• Extensive support for :
  • Geometric primitives: point, frame, twist ...
  • Kinematic Trees: chain and tree structures. In literature, multiple definitions exist for a kinematic structure: a chain as the equivalent for all types of kinematic structures (chain, tree, graph) or chain as the serial version of a kinematic structure. KDL uses the last, or using graph-theory terminology:
    • A closed-loop mechanism is a graph,
    • an open-loop mechanism is a tree, and
    • an unbranched tree is a chain.

Next to kinematics, also parameters for dynamics are included (inertia...)

• • Kinematic and Dynamic Solvers: various generic forward and inverse kinematic algorithms, redundancy resolution, ...
  • Instantaneous Motions: under construction (Expected release, Spring 2011)
  • Motion Trajectories: Cartesian paths, velocity profiles, Cartesian trajectories

• Realtime-safe operations/functions whenever relevant: they do not lead to dynamic memory allocations and all of them are deterministic in time.

• Python bindings

• Typekits and transport-kits for Orocos/RTT

• Integrated in ROS

Getting Help

• Mailinglists
• The API documentation
• The Installation Manual