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The document discusses the degrees of freedom for a robot arm, which can be increased to 12 by allowing base rotations. It also covers parameterized systems for object motion characteristics and key-frame systems for animation, including morphing techniques for transforming object shapes. The document highlights the importance of specifying object parameters and motion paths in animation sequences.

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7 views

pdf5

The document discusses the degrees of freedom for a robot arm, which can be increased to 12 by allowing base rotations. It also covers parameterized systems for object motion characteristics and key-frame systems for animation, including morphing techniques for transforming object shapes. The document highlights the importance of specifying object parameters and motion paths in animation sequences.

Uploaded by

Eslavathramdas
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as PDF, TXT or read online on Scribd
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Downi0aded by t

three
number of degrees of freedom for this robot arm to nine by allowing
Ve can extend the
imensional translations for the base

Translational and rotational


degrees ot freedom for the
base of the robot am.

human
can have a total of 12 degrees of freedom. The
If we also allow base rotations, the robot arm
freedom.
body, in comparison, has over 200 degrees of
be specified as part of the object
Parameterized systems allow object-motion characteristics to
characteristics as degrees of freedom,
definitions. The adjustable parameters control such object
motion limitations, and allowable shape changes.
animation sequences to be defined witha user
Scripting systems allow object specifications and
objects and motions can be constructed.
input script. From the script, a library of various
KEY-FRAME SYSTEMS
of two (or more) key frames. Motion
We generate each set of in-betweens from the specification
curves, or the motions can be
paths can be given with a kinematic description as a set of spline
complex Scenes,
physically based by specifying the forces acting on the objects to be animated. For
or objects called cels (celluloid
we can separate the frames into individual components interpolate
transparencies), an acronym from cartoon animation. Given the animation paths, we can
complex object transformations, the
the positions of individual objects between any two times. With
magnified detail,
shapes of objects may change over time. Examples are clothes, facial features,
evolving shapes, exploding or disintegrating objects, and transforming one object into another
can
object. If all surfaces are described with polygon meshes, then the number of edges per polygon
different in
change from one frame to the next. Thus, the total number of line segments can be
different frames.

Morphing
Transformation of object shapes from one form to another is called morphing, which is a shortened
form of metamorphosis. Morphing methods can he applied to any motion or transition involving a
change in shape. Given two key frames for an object transformation, we first adjust the object
specification in one of the frames so that the number of polygon edges (or the number of vertices) is
the same for the two frames. This pre-processing step is illustrated in figure given below:

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