Real-Time Inverse Kinematics Techniques
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Deepak Tolani; Ambarish Goswami; Norman I. Badler
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Article
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2000
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Elsevier Science
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English
β 538 KB
In this paper we develop a set of inverse kinematics algorithms suitable for an anthropomorphic arm or leg. We use a combination of analytical and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints. Our combination of analytical