Muller-Cajar, R.Mukundan, R.2008-08-052008-08-052007Muller-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.http://hdl.handle.net/10092/743Electronic copy of the papers presented at the conference can be downloaded from the University of Waikato Library.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.enInverse KinematicsCyclic-Coordinate DescentTriangulationConference Contributions - PublishedFields of Research::280000 Information, Computing and Communication Sciences::280200 Artificial Intelligence and Signal and Image Processing::280202 Computer graphicsFields of Research::280000 Information, Computing and Communication Sciences::280200 Artificial Intelligence and Signal and Image Processing::280209 Intelligent robotics