algorithmic modeling for Rhino

Here's an update I've been meaning to post for a long while.

As I'm currently at the RobArch conference in Michigan, now seems a good a time to finally get it out there.

This is a very minimal scripted version of Lobster, with some improvements.

It now outputs the complete ordered set of 8 kinematic solutions for a given end plane, to allow full control.

Also included is a separate forward kinematics component.

Also 2 quaternion based plane interpolation objects for linear blending between a pair of orientations (see also the script I posted in the comments here for spline based smooth interpolation between a sequence of planes)

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