The computer is getting more powerful every day and creating animations for a 3D model ”on the fly” rather than pre-made animations is getting more feasible. A 3D model that is composed by segments and joints, formed for example like a human, can also be viewed as a kinematic model, the joints can be modified such that different postures can be achieved for the model. A kinematic model have a hierarchic tree structure with a parent-child relationship. A change made to a parent propagates to its children. Interacting with a kinematic model can be done in two distinct ways, forward kinematics and inverse kinematics. The most common way of interacting with a kinematic model is by using forward kinematics, which works by changing each joint until a desirable posture is achieved. The other way, known as inverse kinematics is more complex and needs more computer resources, only need a direction or a position for any joint of where it should be. The inverse kinematic methods are all using a matrix called Jacobian matrix, which consists of all first-order partial derivates derived from a kinematic model. The main goal of this thesis is to evaluate current methods solving Inverse Kinematics and to see if it possible to create animations ”on the fly” for a model. ; Validerat; 20101217 (root)


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Inverse kinematics


    Beteiligte:

    Erscheinungsdatum :

    2009-01-01


    Anmerkungen:

    Local 3371ab7a-0b27-4f67-a50d-ddc0d4d731d6


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Inverse Kinematics

    Frigeni, Fabrizio | Springer Verlag | 2022


    Inverse Kinematics

    Jazar, Reza N. | Springer Verlag | 2021


    Prioritized Inverse Kinematics: Generalization

    An, Sang-ik / Lee, Dongheui | Deutsches Zentrum für Luft- und Raumfahrt (DLR) | 2019

    Freier Zugriff

    Inverse Kinematics of Serial-Chain Manipulators

    Lee, Hong-You | Online Contents | 1996