Levron, Yoash, and Albert Schoute. “Upgraded implementation of the kinematic modeling tool Polyplan, using Java and XML.”
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Polyplan is a configuration tool for visualization of moving objects in 3D-space. It uses a modeling language (formatted in XML), by which the geometric configuration and the kinematic properties of general world models can be specified. Objects are represented by convex polyhedrons of arbitrary complexity. Objects move according to configuration parameters that define the kinematic transformations of their coordinate frames. Introduction to kinematic modeling In a world model that contains moving objects like vehicles, manipulator links, obstacles, etc. many parameters are needed in order to describe the configuration completely.