一种解析的反向运动学方法

Kind of analytical inverse kinematics method

针对多关节的反向运动学(IK)提出一种解析的求解方法,直接给出公式来求解关节链中所有待求关节的位置和旋转变量。同传统的迭代方法相比,该方法省却了繁琐的迭代计算,具有更高的求解效率,可以应用于角色动作、运动轨迹的设计、编辑及优化等交互性强和实时性要求高的应用中。

This paper presented an analytical inverse kinematics method for the multi-joint case. Directly computed the new positions as well as the corresponding rotation component of all joints by analytical formulae. Contrasting with the conventional iterative methods, the new method needed no iterative computation and had better computation efficiency. It seemed more suitable for high interactivity and real-time applications such as motion editing. Examples show the efficiency of the new method.