# Libraries to calculate kinematics using Screw Theory

Most kinematics libraries/packages use the conventional transformation matrices (DH parameters). However, I'm looking for something that uses Screw Theory principles to set up the Product of Exponentials formula.

For eg., the KDL library from Orocos uses homogeneous transformation matrices, quaternions, Euler angles, etc. under the hood. But are there libraries that make use of twists and exponentials to derive the kinematics?