Spaces meet Kinematics: FK Rotations

• FK chains are wacky

  • Each rotation alters the meaning of later ones
  • Can't add up results
  • Can't distribute rotations

• Gimbal locks: rotation chains gone bad

  • Parent “spaceâ€? cancels out it's children
  • ï?Œï€ http://www.anticz.com/eularqua.htm

• Quaternions don't fix everything

  • Still vulnerable to positional movement

• 3-DOF chains are inherently unstable

  • End position wobbles
  • Vulnerable to locks
  • 2-DOF rotation chains are stable