I'm fairly new to Java and quite new to Java3D so this may be
a fairly simple question, but I haven't had much luck with it. I'm
working on a robot simulation where the robot is represented using the
D-H convention...which basically means that each joint has its own
coordinate frame and joint i rotates about the z-axis of joint i-1.
I had thought that if I took the transform representing the axis of
rotation (which is passed to the rotation behaviour) and rotated it 90deg
about the X axis, the motion would then
be about the Z axis and all would be well. Such is not the case. The
motion is about the z-axis, but in rotating the transform it flips the
rest of the robot 90deg as well...So instead of an upright robot
rotating about the Z axis of joint 1, for example, I have a robot
lying on its side rotating about the Z axis of joint 1, which just
won't do. I don't understand why it does that,
but I can hardly claim to understand how the rotationInterp. behaviour
works.
My question is this: can I change the axis about which the
interpolator rotates without changing the orientation of everything in
the sub-graph (the rest of the robot)? Solutions I've come up with
are to write my own behaviour, but I'm not sure where to start, or
caluculate the joint-link parameters of the robot using a
representation that rotates about the Y axis, which I would have to
learn how to derive....not that learning is a bad thing, I would just
like to find an easier solution.
Thanks,
Andy Trent
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