Jing, HuangFi, Chin KahPrakash, Edmond C.2015-11-112015-11-1120001017-4656https://doi.org/10.2312/egs.20001008This paper describes a method to predict the free reach movement of different components of the human body. Since the human body is composed of the following components: arms, legs, torso, head & neck, and each of these components has similar features, the same geometric inverse kinematics algorithm can be used in different parts of the body to realize free reach movement task. The main advantage of the proposed method is that it avoids matrix inverse calculation, which is very time consuming. And by using this method, the task can be mostly simplified.