Computing joint values of a kinematic chain from a known end position
Forward vs. inverse kinematics
In computer animation and robotics, inverse kinematics is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or animation character's skeleton, in a given position and orientation relative to the start of the chain. Given joint parameters, the position and orientation of the chain's end, e.g. the hand of the character or robot, can typically be calculated directly using multiple applications of trigonometric formulas, a process known as forward kinematics. However, the reverse operation is, in general, much more challenging.[1][2][3]
Inverse kinematics is also used to recover the movements of an object in the world from some other data, such as a film of those movements, or a film of the world as seen by a camera which is itself making those movements. This occurs, for example, where a human actor's filmed movements are to be duplicated by an animated character.
^Donald L. Pieper, The kinematics of manipulators under computer control. PhD thesis, Stanford University, Department of Mechanical Engineering, October 24, 1968.
^Lynch, Kevin M.; Park, Frank C. (2017-05-25). Modern Robotics. Cambridge University Press. ISBN 978-1-107-15630-2.
^Siciliano, Bruno; Khatib, Oussama (2016-06-27). Springer Handbook of Robotics. Springer International Publishing. ISBN 978-3-319-32550-7.
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