Kinematic Linkages - Computer Animation: Algorithms and Techniques - page 162

FIGURE 5.1
Sample sequence of forward kinematic specification of joint rotations.
(Image courtesy of Domin Lee.)
FIGURE 5.2
Sample sequence showing positioning the hand (identified as the end effector) to the desired position as a
procedure solves for the required joint angles.
(Image courtesy of Domin Lee.)
5.1 Hierarchical modeling
Hierarchical modeling is the enforcement of relative location constraints among objects organized in a
treelike structure. Planetary systems are one type of hierarchical model. In planetary systems, moons
rotate around planets, which rotate around a sun, which moves in a galaxy. A common type of