Theoretical and numerical aspects of the implementation of a DYNAmic MOtion system, dubbed DYNAMO, for the dynamic simulation of linked figures is presented. The system introduces three means for achieving, control of the resulting motion which have not been present in previous dynamic simulation systems for computer animation. (1) "Kinematic constraints" permit traditional keyframe animation systems to be embedded within a dynamic analysis. Joint limit constraints are also handled correctly through kinematic constraints. (2) "Behavior functions" relate the momentary state of the dynamic system to desired forces and accelerations within the figure. (3) "Inverse dynamics" provides a means of determining the forces required to perform a specified motion.The combination of kinematic and dynamic specifications allows the animator to think about each part of the animation in the way that is most suitable for the task. Successful experimental results are presented which demonstate the ability to provide control without disrupting the dynamic integrity of the resulting motion.
Advances for achieving user control of a dynamic simulation of linked figures is presented. The formulation integrates forward and inverse kinematics specification within a mixed method of forward and inverse dynamics simulation. Kinematic specifications can be imposed through kinematic constraints embedded within the dynamics framework. Kinematic constraints may be simple (functions of one degree of freedom), or complex (functions of multiple interrelated degrees of freedom). Thus, keyframed paths, closed loops, point-to-path constraints, and collisions between links and the environment can be simulated. A simultaneous solution for unknown motion and forces of constraint is performed. A Lagrange multiplier method is outlined for incorporating these general constraints into the mathematical formulation of the equations of motion. Results from three example simulations are presented and discussed.
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