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I want to find the euler angles that allow the transformation from the image on th e left-hand side to the image on the right-hand side (see below). Joints A and B have a set of contraints:

  • Local coordinate system XYZ given by the angles [0, 0, 20] (other joints may have different coordinate systems). I think this is always relative to the origin (I am reading from an .amc and .asf files)
  • A direction D and a length L;
  • Some joints only allow transformation in one or two axes;
  • The points A and B are part of a kinematic chain.

enter image description here

QUESTION:

  • How to compute the rotation matrix that allow the transformation from A to A' taking into consideration their local coordinate system and the rotation constraints?

Please Note I am not looking for an inverse kinematics algorithm, in the sense that I already have the joint angles between two segments. I am having trouble to understand how to deal with rotation restrictions, a local coordinate system and direction.

jcampos
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  • The amc file already contains the joint angles. What more do you need? – Nico Schertler Aug 06 '18 at 06:16
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    @jcampos it is unclear what you want to achieve. My guess is compute the change to get from pose A to pose B but If I get it right I see no point for doing that as you got the Euler angles for both poses so just interpolate between them (to obtain animation). Or am I missing something ? Adding a sample input/output would probably clear things out – Spektre Aug 06 '18 at 08:23

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