Kinematics

The robot joint forward kinematics and inverse kinematics.

Forward Kinematics

The forward kinematics is calculated by vector transform. more DOF is acceptable.

Inverse Kinematics

The inverse kinematics only limited to 4 types of robot configuration.

1. Cartesian
2. Cylindrical
3. Spherial
4. Articulated

Command line Demostration

The code to test the accuracy of kinematics calculation can be found here

Build the Project

The project is using Visual Studio 2017. You need Visual Studio 2017 to build the project. The community version of Visual Studio is enough.

Unity Demo

The unity projects is designed on Unity 2017.3. Note the axis system used in the unity is left hand axis. The kinematics library is using right hand axis.

Building Requirements of Unity Project

• Visual Studio 2017
• Unity 2017.3 You need to the set the player setting "Scripting Runtime Version" to ".net 4.6 equivlant" Find the document of runtime of unity here

Building Instruction of Unity Project

• If you rebuild the Main Kinematics Library. You need to copy the RELEASE Version DLL file to the Assert ROOT DIRECTORY
• The project support UWP Release, You need to enable developer mode of Windows 10