Raven-6DoF | Forward Kinematics Demonstration
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Whitepaper on Inverse vs Forward Kinematics: https://irisdynamics.com/forward-and-...
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Forward Kinematics is the calculation of the position and orientation of an end effector using the variables of the joints and linkages connecting to the end effector. Given the current positions, angles, and orientation of the joints and linkages, forward kinematics can be used to calculate the position and orientation of the end effector.
Inverse Kinematics is the calculation of the variables of the set of joints and linkages connected to an end effector. Given the position and orientation of the end effector, inverse kinematics can be used to calculate the variables regarding those joints and linkages including position, angle, and orientation.
The appropriate path to move from one position to another can be calculated using a Jacobian matrix.
Inverse Kinematics enables movement of Stewart Platforms according to its Degrees of Freedom (DoFs). For example, if the desired motion is to sway side to side but otherwise remain level, an Inverse Kinematic Model is used to calculate the length of each of the actuators throughout the motion. The inverse kinematics translate the motions a simulator cares about like “Surge, Sway, Heave, Roll, Pitch, and Yaw” into the position commands for the actuators.
Forward Kinematics calculates the position of the platform’s top plate. In other words, it measures the actual Surge, Sway, Heave, Roll, Pitch, and Yaw. It finds this using the measured length of the actuators.
The importance of Inverse Kinematics is obvious: in order to move the platform to a certain position, Inverse Kinematics is used to reveal how to position the actuators to achieve that. Forward Kinematics is useful in more subtle cases and is particularly useful for Virtual Reality applications.
The Raven-6DoF Development Kit provides Stewart platform designers with all the essentials they need to build best-in-class motion platforms and other hexapod systems. The kit combines 6 Orca series magnetic force feedback linear motors, a force offset system, a high speed FPGA motion controller, and a tested reference design (including CADs) with a recommended bill of materials (BOM). The kit is ideal for OEMs and researchers who need a high level of performance and best in class features.
The Raven-6DoF Development Kit provides the lowest latency and the fastest frequency response of any human sized hexapod. The direct drive linear magnetic motors mean there is no backlash and no mechanical latency.
Combining forward and inverse kinematics also allows for extremely fast and extremely precise tracking of the platforms location which is then fedback into your simulation environment via our API.
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[Music] the Raven-6DoF platform was developed to give VR experience designers the lowest latency and most accurate platform possible. In any VR motion platform application we need a way to detect and cancel out platform movement versus actual rider movement. VR cyber-sickness typically occurs because our brains register an error between perceived body movement through our eyes, our inner ears and our proprioceptive systems. In a VR system there are many things that can trigger this response but one of the hardest for VR developers to tackle is motion latency and accurate head movements versus platform motion tracking. Most platforms accomplish this by placing a tracker on the chair and feeding information from that tracker into the simulation. This is a workable solution in some instances but it can lead to issues with latency and jitter, and it becomes entirely unworkable in any simulation where serious vibrations are being simulated. With the Raven platform however the FPGA-based controller uses a forward kinematics model to calculate the exact location of the platform in space. This allows the VR environment to know exactly which head mounted display movements are the result of the platform moving and which are the result of the rider moving their head. This solution is far faster, far cleaner and far more efficient at helping VR developers build better solutions.
[Raven 6Dof Kinematics control: Low latency, more accurate. The motion latency challenge. Conventional approach: external tracker. Our solution: FPGA-based motion tracking. Our solution is faster, cleaner, more efficient. Iris’ Forward kinematics: higher precision, greater accuracy, less VR motion sickness.]