lecture09

lecture09 - Kinematics Advanced Graphics(and Animation...

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Kinematics Advanced Graphics (and Animation) Spring 2002
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Kinematics The study of object movements irrespective of their speed or style of movement
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Degrees of Freedom (DOFs) The variables that affect an object’s orientation How many degrees of freedom when flying? Six x, y, and z positions roll, pitch, and yaw So the kinematics of this airplane permit movement anywhere in three dimensions
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Degrees of Freedom How about this robot arm? Six again 2-base, 1-shoulder, 1-elbow, 2-wrist
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The set of all possible positions (defined by kinematics) an object can attain Configuration Space
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Work Space vs. Configuration Space Work space The space in which the object exists Dimensionality R 3 for most things, R 2 for planar arms Configuration space The space that defines the possible object configurations Degrees of Freedom The number of parameters that necessary and sufficient to define position in configuration
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More examples A point on a plane A point in space A point moving on a line in space
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Controlled DOFs DOFs that you can actually control (position explicitly)
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Hierarchical Kinematic Modeling A family of parent-child spatial relationships are functionally defined Moon/Earth/Sun movements Articulations of a humanoid Limb connectivity is built into model (joints) and animation is easier
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Robot Parts/Terms Links End effector Frame Revolute Joint Prismatic Joint
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More Complex Joints 3 DOF joints Gimbal Spherical (doesn’t possess singularity) 2 DOF joints Universal
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lecture09 - Kinematics Advanced Graphics(and Animation...

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