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

Abstract

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.

Keywords

• inverse kinematics
• Jacobian inversion
• extended Jacobian technique