Simulation of Rotating a Robot Arm by Non-Metamorphic Animation Method in IFS Fractal Model Based on Shifting Centroid Technique

Abstract

An interesting mechanism of DoF on robot arm movement can be simulated and animated by means of non-metamorphic animation method and shifting centroid technique in IFS fractal model. For the sake of simplification, the segments of robot arm are represented as the collection of simple rectangle fractal connected to each other. The simulation of animation can be accomplished by non-metamorphic animation method based on the periodical manipulation of the IFS fractal object identity. The shifting centroid technique is the key to simplify the complexity of DoF mechanism.