Interactive environment for analyzing the geometric behavior of joint dynamics in articulated objects

Peter Cahoon

doi:10.1117/12.149073

4 August 1993 Interactive environment for analyzing the geometric behavior of joint dynamics in articulated objects

Peter Cahoon

Proceedings Volume 1909, Device-Independent Color Imaging and Imaging Systems Integration; (1993) https://doi.org/10.1117/12.149073
Event: IS&T/SPIE's Symposium on Electronic Imaging: Science and Technology, 1993, San Jose, CA, United States

Abstract

Kinematic animation of articulated objects, such as robots, is accomplished by the use of key framing, which requires that certain key positions of an object's motion path are chosen to be representative of the complete pathway. Commercial animation software then smoothly interpolates the motion path between the chosen keys. Dynamical analysis is used for simulating motion, rather than animating the pathways. The joints of the objects are affected by gravity plus an array of torques and forces. The analysis of the geometry of the trajectory behaviors belongs within the mathematical framework of dynamical systems. Here, an articulated robot simulated the motion behavior of a human as it swung around a fixed, single, horizontal bar and performed a reverse somersault dismount.

Citation Download Citation

Peter Cahoon "Interactive environment for analyzing the geometric behavior of joint dynamics in articulated objects", Proc. SPIE 1909, Device-Independent Color Imaging and Imaging Systems Integration, (4 August 1993); https://doi.org/10.1117/12.149073

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