Forward and inverse kinematics simulation in Javascript
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css
fonts Initial layout with limited styling Feb 14, 2012
js Implemented Jacobian transpose method for IK Feb 20, 2012
.gitignore Added ability to vary number of joints Feb 14, 2012
README.md Fix broken demo link Nov 18, 2013
index.html Implemented Jacobian transpose method for IK Feb 20, 2012

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.