Solving Inverse Kinematics – A New Approach to the Extended Jacobian Technique

Acta Polytechnica

M. Šoch¹  R. Lórencz¹ 

关键词: inverse kinematics;    Jacobian inversion;    extended Jacobian technique;   

DOI  :  

来源: Czech Technical University in Prague, Faculty of M

【 摘 要 】

This paper presents a brief summary of current numerical algorithms for solving the Inverse Kinematics problem. Then a new approach based on the Extended Jacobian technique is compared with the current Jacobian Inversion method. The presented method is intended for use in the field of computer graphics for animation of articulated structures. 

【 授权许可】

Unknown