Search results
Results from the WOW.Com Content Network
Forward vs. inverse kinematics. In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain.
Paden–Kahan subproblems are a set of solved geometric problems which occur frequently in inverse kinematics of common robotic manipulators. [1] Although the set of problems is not exhaustive, it may be used to simplify inverse kinematic analysis for many industrial robots. [2] Beyond the three classical subproblems several others have been ...
Kinematics; Inverse kinematics: a problem similar to Inverse dynamics but with different goals and starting assumptions.While inverse dynamics asks for torques that produce a certain time-trajectory of positions and velocities, inverse kinematics only asks for a static set of joint angles such that a certain point (or a set of points) of the character (or robot) is positioned at a certain ...
A fundamental tool in robot kinematics is the kinematics equations of the kinematic chains that form the robot. These non-linear equations are used to map the joint parameters to the configuration of the robot system. Kinematics equations are also used in biomechanics of the skeleton and computer animation of articulated characters.
The second called inverse kinematics uses the position and orientation of the end-effector to compute the joint parameters values. Remarkably, while the forward kinematics of a serial chain is a direct calculation of a single matrix equation, the forward kinematics of a parallel chain requires the simultaneous solution of multiple matrix ...
An arm design that does not follow these design rules typically requires an iterative algorithm to solve the inverse kinematics problem. The 321 design is an example of a 6R wrist-partitioned manipulator: the three wrist joints intersect, the two shoulder and elbow joints are parallel, the first joint intersects the first shoulder joint ...
In engineering, for instance, kinematic analysis may be used to find the range of movement for a given mechanism and, working in reverse, using kinematic synthesis to design a mechanism for a desired range of motion. [8] In addition, kinematics applies algebraic geometry to the study of the mechanical advantage of a mechanical system or mechanism.
An inverse problem in science is the process of calculating from a set of observations the causal factors that produced them: for example, calculating an image in X-ray computed tomography, source reconstruction in acoustics, or calculating the density of the Earth from measurements of its gravity field. It is called an inverse problem because ...