Triangualation - A New Algorithm for Inverse Kinematics

Type of content
Conference Contributions - Published
Publisher's DOI/URI
Thesis discipline
Degree name
University of Canterbury. Computer Science and Software Engineering.
Journal Title
Journal ISSN
Volume Title
Muller-Cajar, R.
Mukundan, R.

Inverse Kinematics is used in computer graphics and robotics to control the posture of an articulated body. We introduce a new method utilising the law of cosines, which quickly determines the joint angles of a kinematic chain when given a target. Our method incurs a lower computational and rotational cost than Cyclic-Coordinate Descent (CCD), yet is also guaranteed to find a solution if one is available. Additionally it moves the upper joints of any kinematic chain first, thus ensuring a closer simulation of natural movement than CCD, which tends to overemphasise the movement of joints closer to the end-effector of the kinematic chain.

Electronic copy of the papers presented at the conference can be downloaded from the University of Waikato Library.
Muller-Cajar, R., Mukundan, R. (2007) Triangualation - A New Algorithm for Inverse Kinematics. Hamilton, New Zealand: Image and Vision Computing New Zealand (IVCNZ) 2007 Conference, 5-7 Dec 2007. Proceedings of Image and Vision Computing New Zealand 2007, 181-186.
Inverse Kinematics, Cyclic-Coordinate Descent, Triangulation
Ngā upoko tukutuku/Māori subject headings
ANZSRC fields of research