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Joints

Joints. Revolute Joint (1 DOF). Translational Joint (1 DOF). Cylindrical Joint (2 DOF). Spherical Joint (3 DOF). Planar Joint (3 DOF). CS 490.006/582.001 Kinematic Linkages Page 36. Articulated Hierarchy. CS 490.006/582.001 Kinematic Linkages Page 37. Tree-Based Hierarchical Model.

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Joints

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  1. Joints Revolute Joint (1 DOF) Translational Joint (1 DOF) Cylindrical Joint (2 DOF) Spherical Joint (3 DOF) Planar Joint (3 DOF) CS 490.006/582.001 Kinematic Linkages Page 36

  2. Articulated Hierarchy CS 490.006/582.001 Kinematic Linkages Page 37

  3. Tree-Based Hierarchical Model CS 490.006/582.001 Kinematic Linkages Page 38

  4. Skeleton Hierarchy CS 490.006/582.001 Kinematic Linkages Page 39

  5. Kinematics Inverse Kinematics The modeler moves a handle to pose the entire joint chain Forward Kinematics The modeler rotates or moves individual joints to pose and animate the joint chains CS 490.006/582.001 Kinematic Linkages Page 40

  6. Forward Kinematics CS 490.006/582.001 Kinematic Linkages Page 41

  7. Inverse Kinematics CS 490.006/582.001 Kinematic Linkages Page 42

  8. Case study: Two-Link Arm L2 y 2 L1 4 1 3 x CS 490.006/582.001 Kinematic Linkages Page 43

  9. Using the Jacobian Matrix Effector Position L2 y 2 L1 y  1 x x Effector Destination CS 490.006/582.001 Kinematic Linkages Page 44

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