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| An articulated figure consists of a set of rigid segments connected with joints. Varying the angles of the joints yields an indefinite number of configurations. The solution to the forward ] problem, given these angles, is the desired posture of the figure. The more difficult solution to the inverse kinematics problem is to find the joint angles given the desired configuration of the figure (i.e., end-effector). For animators, the inverse kinematics problem is of great importance. These artists find it far simplier to express spatial appearance rather than joint angles. Applications of inverse kinematic algorithms include interactive manipulation, animation control and collision avoidance. Some of these solutions approach the problem via nonlinear programming techniques. | |||
| ] is the process of calculating the position in space of the end of a linked structure, given the angles of all the joints. It is easy, and there is only one solution. Inverse Kinematics does the reverse. Given the end point of the structure, what angles do the joints need to be in the achieve that end point. It can be difficult, and there are usually many or infinitely many solutions. | |||
Revision as of 19:17, 3 March 2004
An articulated figure consists of a set of rigid segments connected with joints. Varying the angles of the joints yields an indefinite number of configurations. The solution to the forward kinematics problem, given these angles, is the desired posture of the figure. The more difficult solution to the inverse kinematics problem is to find the joint angles given the desired configuration of the figure (i.e., end-effector). For animators, the inverse kinematics problem is of great importance. These artists find it far simplier to express spatial appearance rather than joint angles. Applications of inverse kinematic algorithms include interactive manipulation, animation control and collision avoidance. Some of these solutions approach the problem via nonlinear programming techniques.