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272 11. Navigation and Movement in VR
It is much simpler to understand IK in 2D, so this is where we will begin.
The solution of the 3D IK problem follows exactly the same conceptual argu-
ment as that used in 2D. It is only in setting up the problem that differences
occur; thus, we will use a 2D example to present a rigorous method of the
solution.
11.4.1 The IK Problem
For a robot used as a surrogate human on a production line, an important
design feature is that the hand can approach the working materials at the
correctangle.Todothis,theremustbe enough linkages from the place where
the robot is anchored to its hand and each link must have