Kinematik was a small web-based tool for the simulation and visualisation of articulate robots, written in 2016. It was written in javascript and should still run on modern browsers with webGL support.
A test scene exists on github pages here.
- TAB Key to switch to next mode (Build/FK/IK)
- MMB(Middle Mouse Button): rotate view
- SHIFT + MMB: translate camera
- NUM 1: front view
- NUM 3: side view
- NUM 7: top view
- LMB(Left Mouse Button): move/drag 3D cursor
- T: translate 3D cursor (move mouse to translate & click to confirm)
- T + X/Y/Z: translate 3D cursor along axis
- R: rotate 3D cursor (move mouse to rotate & click to confirm)
- R + X/Y/Z: rotate 3D cursor about axis
- SPACE: add new joint at 3D cursor
- 1 thru 9: actuate joints +
- A thru L: actuate joints -
- SHIFT: slow down actuation speed
- (the end effector follows the 3D cursor.)