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Anatomy-A Complete Guide for Artists by Joseph Sheppard

By Joseph Sheppard

During this terrific guidebook, a grasp of determine drawing indicates readers in designated element the way to render human anatomy convincingly. Over 460 illustrations display the constitution of the physique by way of featuring cautious, a professional articulation of the muscle tissue and bones mendacity underneath the outside.

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Ox ∂Ox ∂Ox ⎥ ⎢ ⎢ ⎥ ⎢ ⎥ ⎢ ∂θ ∂θ ∂θ ∂θxn ∂θyn ∂θzn ⎥ ⎢ ⎥ ∆θ ⎥ ⎣ ∆θye ⎦ ⎢ ∂Ox1y ∂Oy1y ∂Oz1y xn ⎥ ∂Oy ∂Oy ∂Oy ⎢ ⎣ ∂θx1 ∂θy1 ∂θz1 ... ∂θxn ∂θyn ∂θzn ⎦ ⎣ ⎦ ∆θ yn ∆θze ∂Oz ∂Oz ∂Oz ∂Oz ∂Oz ∂Oz ... ∆θ ∂θx1 ∂θy1 ∂θz1 ∂θxn ∂θyn ∂θzn zn Alle weiteren Schritte erfolgen analog zum 2D-Fall. berechnete Konfiguration Zielposition Y Hindernis gewünschte Konfiguration X Abb. 32. 3, 0, 0) X Abb. 33. 3 Secondary Task Die gleiche Effektorposition l¨asst sich mit beliebig vielen unterschiedlichen Gelenkwinkelkombinationen erreichen.

2 Denavit-Hartenberg-Notation Die Denavit-Hartenberg-Notation (DH-Notation) wurde urspr¨ unglich von Jacques Denavit und Richard S. Hartenberg zur kinematischen Synthese von Robotergelenken entwickelt. Sie basiert auf einer einheitlichen Notation der Gelenkverbindungen. Mit Hilfe der DH-Notation kann, ausgehend von dem lokalen Gelenkkoordinatensystem i, die Lage und die Orientierung des nachfolgenden Koordinatensystems i + 1 unter Verwendung der in Abb. 24 dargestellten Parameter bestimmt werden.

Abb. 19) verschiebt entsprechend der Glg. 10 das Projektionszentrum (PRP) in den Ursprung des Weltkoordinatensystems. Dieser Transformationsschritt bestimmt mit dem Parameter zprp und der ¨ Gr¨ oße des Sichtfensters (wx , wy ) den Offnungswinkel und damit den Zoom der virtuellen Kamera. 10) 36 2 Globale Bewegungen Z Z Projektionsebene Y Y VRP VRP zprp PRP X PRP X Abb. 19. Translation des PRP in den Ursprung des Weltkoordinatensytems Schritt 4: Transformation in das perspektivisch-projizierte, kanonische Sichtvolumen.

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