Publication
Inverse kinematics techniques of the interactive posture control of articulated figures
Related concepts (41)
Priority queue
In computer science, a priority queue is an abstract data-type similar to a regular queue or stack data structure. Each element in a priority queue has an associated priority. In a priority queue, elements with high priority are served before elements with low priority. In some implementations, if two elements have the same priority, they are served in the same order in which they were enqueued. In other implementations, the order of elements with the same priority is undefined.
Robot kinematics
In robotics, robot kinematics applies geometry to the study of the movement of multi-degree of freedom kinematic chains that form the structure of robotic systems. The emphasis on geometry means that the links of the robot are modeled as rigid bodies and its joints are assumed to provide pure rotation or translation. Robot kinematics studies the relationship between the dimensions and connectivity of kinematic chains and the position, velocity and acceleration of each of the links in the robotic system, in order to plan and control movement and to compute actuator forces and torques.
Inverse kinematics
In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics.
Parallel manipulator
A parallel manipulator is a mechanical system that uses several computer-controlled serial chains to support a single platform, or end-effector. Perhaps, the best known parallel manipulator is formed from six linear actuators that support a movable base for devices such as flight simulators. This device is called a Stewart platform or the Gough-Stewart platform in recognition of the engineers who first designed and used them.
Priority inheritance
In real-time computing, priority inheritance is a method for eliminating unbounded priority inversion. Using this programming method, a process scheduling algorithm increases the priority of a process (A) to the maximum priority of any other process waiting for any resource on which A has a resource lock (if it is higher than the original priority of A). The basic idea of the priority inheritance protocol is that when a job blocks one or more high-priority jobs, it ignores its original priority assignment and executes its critical section at an elevated priority level.
Scheduling (computing)
In computing, scheduling is the action of assigning resources to perform tasks. The resources may be processors, network links or expansion cards. The tasks may be threads, processes or data flows. The scheduling activity is carried out by a process called scheduler. Schedulers are often designed so as to keep all computer resources busy (as in load balancing), allow multiple users to share system resources effectively, or to achieve a target quality-of-service.
Task management
Task management is the process of managing a task through its lifecycle. It involves planning, testing, tracking, and reporting. Task management can help either individual achieve goals, or groups of individuals collaborate and share knowledge for the accomplishment of collective goals. Tasks are also differentiated by complexity, from low to high. Effective task management requires managing all aspects of a task, including its status, priority, time, human and financial-resources assignments, recurrence, dependency, notifications,etc.
Manipulator (device)
In robotics, a manipulator is a device used to manipulate materials without direct physical contact by the operator. The applications were originally for dealing with radioactive or biohazardous materials, using robotic arms, or they were used in inaccessible places. In more recent developments they have been used in diverse range of applications including welding automation, robotic surgery and in space. It is an arm-like mechanism that consists of a series of segments, usually sliding or jointed called cross-slides, which grasp and move objects with a number of degrees of freedom.
Forward kinematics
In robot kinematics, forward kinematics refers to the use of the kinematic equations of a robot to compute the position of the end-effector from specified values for the joint parameters. The kinematics equations of the robot are used in robotics, computer games, and animation. The reverse process, that computes the joint parameters that achieve a specified position of the end-effector, is known as inverse kinematics.
Priority inversion
In computer science, priority inversion is a scenario in scheduling in which a high priority task is indirectly superseded by a lower priority task effectively inverting the assigned priorities of the tasks. This violates the priority model that high-priority tasks can only be prevented from running by higher-priority tasks. Inversion occurs when there is a resource contention with a low-priority task that is then preempted by a medium-priority task.