Basic kinematics and dynamics for rigid-body chains written in javascript.
A demo of the kinematics using basic inverse-kinematics is here: bingjeff.github.io/roborig-js/dist.
This project is based around:
- Node.js
- Yarn
- Webpack
- Babel
I used the following site as reference when setting this up.
Very loosely it is just a collection of Javascript classes to enable building kinematic-trees for rigid-body linkages. There are a few peculiarities:
- Each joint can only be "simple", i.e. pure rotation or pure translation.
- Kinematic partials are available up to 2nd order.
- Math relies on mathjs.
- Visualization relies on threejs.