December 2013
Intermediate to advanced
508 pages
16h 50m
English
Content preview from Practical Algorithms for 3D Computer Graphics, 2nd Edition
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6.4. Inverse kinematics 217
question is: how do es it get there? It may be starting from a rest pos ition or
the place in which it has just finished a previous task. From the operator’s
point of view it would be very helpful if they only had to move the hand, not
adjust every link fr om base to hand. However th e hand must be at the end of
the articulated linkage and it is the relative orientation of the links that dictate
where the hand is.
Thus, given the relative orientation of articulated linkages, say Θ (which
represents the angles that estab lis h how each link is orientated, e.g., by the set:
θ
1
, θ
2
, . . . , θ
n
), the location of the end of the ...
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