search

dtex / tharp

An inverse kinematics solver for robots, optimized for Johnny-Five.
MIT License
27 stars 7 forks source link

Two upcoming breaking changes: #2

Closed dtex closed 9 years ago

dtex commented 9 years ago
  1. The global coordinate systems I'm finding in books on robotics all have z=0 representing ground, whereas I have y=0 representing ground so I'm going to refactor tharp to use z=0 representing ground.
  2. The names I have given to joints (i.e. Coxa, Femur, etc) are superfluous. We really only need to know the type of joint and how it's oriented in space. So "CoxaY-FemurZ-TibiaZ" can be simply represented as "YZZ". Uppercase letters can represent simple rotating joints (servos) and lowercase letters can be linear actuators.
dtex commented 9 years ago

These are done.