Analytical Solution for Anthropomorphic Limbs Model, (IK of Human Arm)
Engineering and Technology Journal,
2010, Volume 28, Issue 13, Pages 2654-2665
AbstractThis paper considers a proposed algorithm for computation of the inverse
kinematics(IK) model of the human arm. This algorithm introduces a new IK method
suitable for reaching tasks performed by autonomous and interactive virtual humans.
The basic problem is to pose the character in such a way that arm hand reaches the
target ( position and orientation ) in space. The algorithm is composed of two phases.
The first phase is the limitation of real task which concerning the human arm
movement and the second phase presents the analytical solution for inverse kinematics
problem (IKP) by trigonometric relations and algebraic solution according to
limitation of joints. This algorithm is simulated by using MATLAB Ver. R2008a, and
satisfied results are obtained, that explains the ability of the proposed algorithm to
solve the inverse kinematics problem for real human arm.
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