orocos-kdl ☆
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Description:
Orocos Kinematics and Dynamics C++ library
Type: Formula  |  Latest Version: 1.5.3@0  |  Tracked Since: Nov 2, 2025
Links: Homepage  |  formulae.brew.sh
Category: Developer tools
Tags: robotics c-plus-plus kinematics dynamics library
Install: brew install orocos-kdl
About:
Orocos KDL (Kinematics and Dynamics Library) is a C++ library for modeling and computation of kinematic and dynamic chains. It provides a framework for representing robot models using segments with attached inertia and joint parameters. The library enables forward and inverse kinematics, as well as forward and inverse dynamics calculations for complex robotic systems.
Key Features:
  • Kinematics computation (forward and inverse)
  • Dynamics computation (forward and inverse)
  • Generic model representation for kinematic chains
  • Real-time capable design
Use Cases:
  • Robot arm control and motion planning
  • Simulation of robot dynamics
  • Development of custom robot controllers
Alternatives:
  • libbot2 – Part of the Bot2 framework, often used in robotics but less focused specifically on kinematics/dynamics than KDL
  • OpenRAVE – Higher-level motion planning framework that includes kinematics, but is a much larger system than KDL
Version History
Detected Version Rev Change Commit
Nov 2, 2025 6:42am 1 VERSION_BUMP b3af6401
Oct 17, 2025 8:19am 0 VERSION_BUMP a5c1894c
Oct 3, 2025 10:12am 0 VERSION_BUMP 283b7a39
Sep 16, 2025 5:40pm 0 VERSION_BUMP 7ce30aa0
Nov 3, 2024 2:38pm 0 VERSION_BUMP 4962be77
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