forwade kainamattiks

robot kainamattiksil, joyint paaraamettarukalude nirddishta moolyangalil ninnu end-efakttarinte sthaanam kanakkakkaan oru robottinte kainamattik samavaakyangalude upayogatheyaanu forwade kainamattiks soochippikkunnathu.
robotics, computer geyimukal, aanimeshan ennivayil robottinte kainamattiks samavaakyangal upayogikkunnu. end efakttarinte oru nirddishta sthaanam nedunna joyint paaraamettarukal kanakkaakkunna vipareeta prakriya invezhs kainamattiks ennu vilikkunnu.
kainamattiks samavaakyangal.
oro joyintilum anuvadikkunna aapekshika chalanathe savisheshamaakkunnathin oru robottinte seerees cheyin [z] upayogichaanu kainamattiks samavaakyangal labhikkunnath, koodaathe oro linkinteyum alavukal nirvachikkunnathin karkkashamaaya parivartthanam [x] verthirikkunnu. shringalayude adithattil ninnu athinte end linkilekkulla joyint, link parivartthanangale marimari krameekarikkunna karkkashamaaya parivartthanangalude oru sreniyaanu phalam, ithu end linkinte nirddishta sthaanathinu thulyamaanu.
end link kandethunna parivarthanamaanu [t]. eee samavaakyangale seeriyal cheyinte kainamattiks samavaakyangal ennu vilikkunnu.
link parivartthanangal.
1955-ll jackwus denaavittum richard hartenberg samyuktha maatriksukalude [z] nirvachanathinum [x] link maatriksukalude [x] nirvachanathinum speshyal linkejukalude coordinate frame staanderdais cheiyunnathinaayi oru kanvenshan avatharippichu. eee kanvenshan joyint frame sthaapikkunnu, angane athil z-aaksisil oru scru displacement adangiyirikkunnu
ithu link frame sthaapikkunnu, athinaal athil x-achuthandil oru scru sthaanachalanamundu,
eee notteshan upayogichu, oro parivartthana-link oru seeriyal cheyin robotinoppam pookunnu, coordinate parivartthanatthiloode vivarikkaam.
ivide "θi", "Di", "αi", i + 1 "," i, i + 1 "enniva denaavit-hartenberg paaraamettarukal ennariyappedunnu.
kainamattiks samavaakyangal punaparisodhikkappettu.
joyint paaraamettarukal "θi" ulla "n" linkukalude seeriyal cheyinte kainamattiks samavaakyangal nalkunnathu
roboticsil link formula 7-nte framil ninnu link formula 8-lekkulla parivartthana maatriksaanu formula 6. iva parambaraagathamaayi denaavit-hartenberg paaraamettarukal vivarikkunnu.
denaavit-hartenberg matricks.
eee pravarthanangalumaayi bandhapetta maatrikkukal ivayaanu
athupole,
denaavit-hartenberg kanvenshan upayogikkunnathu link transformation matricks nalkunnu, ["i-1ti"]
denaavit-hartenberg matricks ennaanu ithu ariyappedunnathu."
computer aanimeshan.
modalukal aanimett cheiyunnathinaayi cheiyunnathinaayi computer graphixil forwade kainamattik samavaakyangal oru reethiyaayi upayogikkaam.
oru nischitha samayat modalinte prathyeka bhaagangalude sthaanangal oru articlated modalinte sandhikalekkurichulla eathenkilum vivarangalkoppam vasthuvinte sthaanavum ooriyanteshanum upayogichu kanakkakkunnu ennathaanu forwade kainamattik aanimeshante pradhana ashayam. udaaharanathinu, aanimett cheyyenda vasthu thool oru nischitha sthalathu avasheshikkunna oru kaiyaanengil, thool, kaimutt, kaithanda, thallaviral, nakkil sandhikal ennivayude konukalil ninnu thallaviralinte agrathinte sthaanam kanakkakkum. eee sandhikalil moonninu (thool, kaithanda, thallaviralinte adibhaagam) onniladhikam digri swaathanthryamundu, ivayellaam kanakkiledukkanam. aaa maathruka oru muzhuvan manushyaroopamaayirunnenkil, tholinte sthaanavum maathrkayude mattu savisheshathakalil ninnu kanakkaakkendathund.
forwade kainamattik aanimeshane invezhs kainamattik aanimeshanil ninnu eee kanakkukoottal maarggathiloode verthirichariyaan kazhiyum-invezhs kainamattiksil articlated bhaagangalude ooriyanteshan modalil chila pooyintukalude aavasyamulla sthaanathu ninnaan kanakkaakkunnath. modalinte chalanam aanimettar nerittu nirvachikkunnu enna vasthuthayum mattu aanimeshan sisttangalil ninnu verthirikkunnu-guruthwaakarshanam allengil mattu modalukalumaayi koottiyidi polulla modalil praabalyatthil vannekkaavunna bhauthika niyamangalonnum kanakkiledukkunnilla.

