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Proceedings Paper

Interactive environment for analyzing the geometric behavior of joint dynamics in articulated objects
Author(s): Peter Cahoon
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Paper 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.

Paper Details

Date Published: 4 August 1993
PDF: 8 pages
Proc. SPIE 1909, Device-Independent Color Imaging and Imaging Systems Integration, (4 August 1993); doi: 10.1117/12.149073
Show Author Affiliations
Peter Cahoon, Univ. of British Columbia (Canada)

Published in SPIE Proceedings Vol. 1909:
Device-Independent Color Imaging and Imaging Systems Integration
Ricardo J. Motta; Hapet A. Berberian, Editor(s)

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