animator will specify where the object should be located. For example, positioning the character in a
system of equations is then solved to determine the joint angles.Example: inverse kinematics allows an artist to move
the hand of a 3D human model to a desired position and orientation and have an
algorithm select the proper angles of the wrist, elbow, and shoulder joints.
requires that the figure move within reasonable anthropomorphic limits.Source
Example: given p
, determineθ1 and θ2Generally,
the system of equations that must be solved is complex and non-linear. Analytic solutions are typically not
one can set up an optimisation problem that searches the configuration space of
the joint angles for a minimum error configuration. Note there may be multiple global minima!