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Example 15: Unity and Kinematics
Published in Ata Jahangir Moshayedi, Amin Kolahdooz, Liefa Liao, Unity in Embedded System Design and Robotics, 2023
Ata Jahangir Moshayedi, Amin Kolahdooz, Liefa Liao
Kinematics is the division of procedure that studies the motion of a body or a system of bodies without consideration given to its mass or the forces acting on it. Robot Kinematics refers to the analytical study of the motion of a robot manipulator. For Kinematics, we interfere with two words of Inverse Kinematics as well as forward Kinematics. The problem with Inverse Kinematics is that it can be seen as the one of finding the joint values corresponding to some specific position and/or orientation of a given body element (generally the end effector). In contrast, Forward Kinematics refers to the process of obtaining the position and velocity of the end effector, given the known joint angles and angular velocities. Formulating suitable kinematics models for a robot mechanism is crucial for analysing industrial manipulators' behaviour. More generally, it is a transformation from the task space coordinates into the joint space coordinates. In Unity, you can also consider the Inverse Kinematics for your character, because animation needs to work with the rotation of Angles of joints. In this chapter, we'll briefly look into how Inverse Kinematics is implemented in Unity. A Unity asset is an item that you can use in your game or project. An asset may come from a file created outside of Unity, such as a 3D model, an audio file, an image, or other file types that Unity supports. The main reason for using assets is to speed up development and ease of access. Assets are like templates. It can be a ready-made component that's downloaded and used or plug and play. It also provides users with a new and experienced introduction to new functions that are not readily available out of the box in Unity. The main goal of this example guide is to show how the concept of Inverse Kinematics can be applied in Unity with ready-made assets from the assets store of Unity. Users can learn how Inverse Kinematics can be implemented or at least get started in the direction of applying Inverse Kinematics in their game/project development.
Robust Design of Artificial Neural Network Methodology to Solve the Inverse Kinematics of a Manipulator of 6 DOF
Published in S. Kanimozhi Suguna, M. Dhivya, Sara Paiva, Artificial Intelligence (AI), 2021
Ma. del Rosario Martínez-Blanco, Teodoro Ibarra-Pérez, Fernando Olivera-Domingo, José Manuel Ortiz-Rodríguez
The kinematics of the manipulator describes the relationship between the joint angle, the position, and the orientation of the robot’s end. The robot kinematics analysis includes the solution of two aspects: direct kinematics and inverse kinematics [3], as shown in Figure 9.1.
Multi-objective trajectory optimization of the 2-redundancy planar feeding manipulator based on pseudo-attractor and radial basis function neural network
Published in Mechanics Based Design of Structures and Machines, 2023
Shenquan Huang, Shunqing Zhou, Luchuan Yu, Jiajia Wang
Robot kinematics is the key to achieve robot control with high precision in the complex mission space. It focuses on the pose transformation law between Cartesian space and Joint space. The geometric and analytical methods are used to establish forward and inverse kinematic models of the 2-RPFM, respectively.