Lecture_Chapter6_b

Inverse kinematics finds parameters for a desired

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Unformatted text preview: robot if I choose these angles at the joints?” •  Inverse Kinematics finds parameters for a desired state/ position θ = g ( p) (θ = f −1 (p) (?)) “What angles should I use at the joints to place my hand over there?” ECS 175 Chapter 6: Scene Representation and Interaction 26 Inverse Kinematics •  Inverse Kinematics θ = g ( p) (θ = f −1 (p) (?)) •  Parameters hard to find (f might not have an inverse) •  No solutions (“Point cannot be reached by the robot’s hand.”) •  Multiple solutions (“Robot can reach the point in several ways.”) •  In animation one tries to find an ‘optimal’ solution •  Realistic, smooth movement •  Minimal movement •  Manual techniques (key-framing: Specify intermediate parameters) ECS 175 Chapter 6: Scene Representation and Interaction 27 Scene Graphs •  Scenes are similar to complex objects •  They contain several (related objects) •  Objects can be similar/share properties •  Object may be grouped •  May contain a logical or spatial hierarchy •  Relative operations can be applied between related objects •  But: Camera is often located in the scene ECS 175 Chapter 6: Scene Representation and In...
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