Kinematik

Kinematik was a small web-based tool for the simulation and visualisation of articulate robots, written in 2016. It was written in javascript and should still run on modern browsers with webGL support.

A test scene exists on github pages here.

Controls

Mode Manager

• TAB Key to switch to next mode (Build/FK/IK)

Camera Navigation

• MMB(Middle Mouse Button): rotate view
• SHIFT + MMB: translate camera
• NUM 1: front view
• NUM 3: side view
• NUM 7: top view

3D Cursor

• LMB(Left Mouse Button): move/drag 3D cursor
• T: translate 3D cursor (move mouse to translate & click to confirm)
• T + X/Y/Z: translate 3D cursor along axis
• R: rotate 3D cursor (move mouse to rotate & click to confirm)
• R + X/Y/Z: rotate 3D cursor about axis

Build Mode

• SPACE: add new joint at 3D cursor

Forwards Kinematics Mode

• 1 thru 9: actuate joints +
• A thru L: actuate joints -
• SHIFT: slow down actuation speed

Inverse Kinematics Mode

• (the end effector follows the 3D cursor.)