1 / 9

Joints

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.

baxter
Download Presentation

Joints

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. 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

  2. Articulated Hierarchy CS 490.006/582.001 Kinematic Linkages Page 37

  3. Tree-Based Hierarchical Model CS 490.006/582.001 Kinematic Linkages Page 38

  4. Skeleton Hierarchy CS 490.006/582.001 Kinematic Linkages Page 39

  5. Kinematics Inverse Kinematics The modeler moves a handle to pose the entire joint chain Forward Kinematics The modeler rotates or moves individual joints to pose and animate the joint chains CS 490.006/582.001 Kinematic Linkages Page 40

  6. Forward Kinematics CS 490.006/582.001 Kinematic Linkages Page 41

  7. Inverse Kinematics CS 490.006/582.001 Kinematic Linkages Page 42

  8. Case study: Two-Link Arm L2 y 2 L1 4 1 3 x CS 490.006/582.001 Kinematic Linkages Page 43

  9. Using the Jacobian Matrix Effector Position L2 y 2 L1 y  1 x x Effector Destination CS 490.006/582.001 Kinematic Linkages Page 44

More Related