Articulation Controller
Controls an articulation kinematic chain
The articulation controller drives an articulation tree, letting you move the joints in a kinematic chain.
Properties
Articulations
The articulation controller has no configurable properties. The inspector shows a graph of the kinematic chain connections so you can verify the hierarchy.
Supports
- Serial chains
- Serial chains with parallel branches
Does not support
- Closed chains
- Closed parallel loops
Incorrect kinematic chain setup
To prevent unwanted behavior, the articulation controller checks for closed kinematic chains or closed parallel loops and will warn you in the object editor.
Signals
The articulation controller provides output signals you can use in your programs and monitoring tools.
Outputs
The articulation controller has one output:
running:TRUEwhile the articulated body is moving andFALSEwhen it is stopped.
To command an articulated chain, see Move to Target and Move Joints.