Generation of Motion Transitions Using Spacetime Constraints
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چکیده
5.1 ROOT MOTION .....................................................................................................................................................4 5.2 KINEMATIC CONSTRAINTS....................................................................................................................................5 5.3 MOTION CYCLIFICATION ......................................................................................................................................5 5.3.1 Maple source text.........................................................................................................................................6 5.4 THE INVERSE DYNAMICS PROBLEM (IDP) DUE TO [BA,LWP]..................................................................................6 5.4.1 Notation and definitions...............................................................................................................................7 5.4.2 Link parameters (simplified).........................................................................................................................7 5.4.3 Involved symbols and semantics ........................................................................................... ........................8 5.4.4 Border conditions of the example motion: the polynominal basis approach..................................................8 5.4.5 Forward dynamics equations........................................................................................................................9 5.4.6 Backward dynamics equations....................................................................................................................10 5.4.7 Double polynominal angle function basis ...................................................................................................10 5.4.8 Maple source text.......................................................................................................................................11
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