A framework for modeling and computation of kinematic chains
The Kinematics and Dynamics Library (KDL) develops an application independent framework for modeling and computation of kinematic chains, such as robots, bio-mechanical human models, computer-animated figures, machine tools, etc. It provides class libraries for geometrical objects (point, frame, line,... ), kinematic chains of various families (serial, humanoid, parallel, mobile,... ), and their motion specification and interpolation.
You can contact the maintainers of this package via email at
orocos-kdl dash maintainers at fedoraproject dot org.