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JOINTS CS 490.006/582.00 1 KINEMATIC REVOLUTE JOINT (1 DOF) TRANSLATIONAL JOINT (1 DOF) CYLINDRICAL JOINT (2 DOF) SPHERICAL JOINT (3 DOF) PLANAR JOINT (3 DOF)

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Joints. Revolute Joint (1 DOF). Translational Joint (1 DOF). Cylindrical Joint (2 DOF). Spherical Joint (3 DOF). Planar Joint (3 DOF). CS 490.006/582.001 Kinematic Linkages Page 36. Articulated Hierarchy. CS 490.006/582.001 Kinematic Linkages Page 37. Tree-Based Hierarchical Model. - PowerPoint PPT Presentation

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JointsCS 490.006/582.001Kinematic LinkagesPage 36

Revolute Joint (1 DOF)Translational Joint (1 DOF)Cylindrical Joint (2 DOF)Spherical Joint (3 DOF)Planar Joint (3 DOF)

Articulated HierarchyCS 490.006/582.001Kinematic LinkagesPage 37

Tree-Based Hierarchical ModelCS 490.006/582.001Kinematic LinkagesPage 38

Skeleton HierarchyCS 490.006/582.001Kinematic LinkagesPage 39

KinematicsCS 490.006/582.001Kinematic LinkagesPage 40

Forward KinematicsThe modeler rotates or moves individual joints to pose and animate the joint chainsInverse KinematicsThe modeler moves a handle to pose the entire joint chain

Forward KinematicsCS 490.006/582.001Kinematic LinkagesPage 41

Inverse Kinematics

CS 490.006/582.001Kinematic LinkagesPage 42

Case study: Two-Link ArmCS 490.006/582.001Kinematic LinkagesPage 4312L1L2xy34

Using the Jacobian MatrixCS 490.006/582.001Kinematic LinkagesPage 4412L1L2xyEffector PositionEffector Destinationyx


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