JOINTS CS / KINEMATIC LINKAGES PAGE 36 REVOLUTE JOINT (1 DOF) TRANSLATIONAL JOINT (1 DOF) CYLINDRICAL JOINT (2 DOF) SPHERICAL JOINT (3 DOF) PLANAR JOINT (3 DOF)

ARTICULATED HIERARCHY CS / KINEMATIC LINKAGES PAGE 37

TREE-BASED HIERARCHICAL MODEL CS / KINEMATIC LINKAGES PAGE 38

SKELETON HIERARCHY CS / KINEMATIC LINKAGES PAGE 39

KINEMATICS CS / KINEMATIC LINKAGES PAGE 40 FORWARD KINEMATICS THE MODELER ROTATES OR MOVES INDIVIDUAL JOINTS TO POSE AND ANIMATE THE JOINT CHAINS INVERSE KINEMATICS THE MODELER MOVES A HANDLE TO POSE THE ENTIRE JOINT CHAIN

FORWARD KINEMATICS CS / KINEMATIC LINKAGES PAGE 41

INVERSE KINEMATICS CS / KINEMATIC LINKAGES PAGE 42

CASE STUDY: TWO-LINK ARM CS / KINEMATIC LINKAGES PAGE 43 1111 2222 L1L1L1L1 L2L2L2L2 x y 3333 4444

USING THE JACOBIAN MATRIX CS / KINEMATIC LINKAGES PAGE 44 1111 2222 L1L1L1L1 L2L2L2L2 x y  Effector Position Effector Destination yyyy xxxx