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    A Fast Inverse Kinematics Solver using Intersection of Circles

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    2013
    Author
    Ramachandran, Srinivasan
    John, Nigel W.
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    Abstract
    Inverse Kinematics (IK) calculates the joint angles of an articulated object so that its end effector can be positioned as desired. This paper presents an efficient IK method using a geometric solver based on the intersection of circles. For an articulated object with n joints, our method will position the end-effector accurately and requires only a reverse iteration of (n-2). An intuitive user interface is provided, which automatically keeps the end effector between the maximum and minimum extent of the articulated object. Common problems that can occur with other IK methods are avoided. The algorithm has been implemented using WebGL and Javascript and tested by simulating a human hand, a three joint robot arm and human cycling motion, achieving interactive rates of up to 60 FPS
    BibTeX
    @inproceedings {10.2312:LocalChapterEvents.TPCG.TPCG13.033-039,
    booktitle = {Theory and Practice of Computer Graphics},
    editor = {Silvester Czanner and Wen Tang},
    title = {{A Fast Inverse Kinematics Solver using Intersection of Circles}},
    author = {Ramachandran, Srinivasan and John, Nigel W.},
    year = {2013},
    publisher = {The Eurographics Association},
    ISBN = {978-3-905673-98-2},
    DOI = {10.2312/LocalChapterEvents.TPCG.TPCG13.033-039}
    }
    URI
    http://dx.doi.org/10.2312/LocalChapterEvents.TPCG.TPCG13.033-039
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    Eurographics Association copyright © 2013 - 2023 
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    Theme by @mire NV
    System hosted at  Graz University of Technology.
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