/kinematics

Forward and inverse kinematics simulation in Javascript
  1. JavaScript 98.5%
  2. Other 1.5%
Switch branches/tags
Nothing to show
Find file
Clone or download

Clone with HTTPS

Use Git or checkout with SVN using the web URL.

Download ZIP

Launching GitHub Desktop...

If nothing happens, download GitHub Desktop and try again.

Launching GitHub Desktop...

If nothing happens, download GitHub Desktop and try again.

Launching Xcode...

If nothing happens, download Xcode and try again.

Launching Visual Studio...

If nothing happens, download the GitHub extension for Visual Studio and try again.

Wylie Wylie
Wylie and Wylie Fix use of offsets when calculating joint position
Latest commit d2b46cb Aug 14, 2018
Permalink
Failed to load latest commit information.
css Implemented Jacobian transpose method for IK Feb 20, 2012
fonts Initial layout with limited styling Feb 14, 2012
js Fix use of offsets when calculating joint position Aug 14, 2018
.gitignore Added ability to vary number of joints Feb 14, 2012
README.md Fix broken demo link Nov 18, 2013
index.html Fix use of offsets when calculating joint position Aug 14, 2018

README.md

About

An exercise in implementing a forward and inverse kinematics simulation in Javascript. Uses the Raphael SVG framework and Sylvester Matrix library.

Usage

This script can be demoed at kinematics.wylie.su. Alternatively, to run it locally, you may use Python's built in SimpleHTTPServer module like so:

python -m SimpleHTTPServer 8000

and visit localhost:8000

Forward kinematics:

Click on a joint, then use the left and right arrow keys to rotate.

Up and down arrow keys add/subtract joints.

Inverse kinematics:

Click and drag anywhere on the board to orient the joints. Implemented using clamped Jacobian transpose method.

License

All code is MIT licensed unless otherwise noted.