Solving Inverse Kinematics – A New Approach to the Extended Jacobian Technique

M. Šoch, R. Lórencz


This paper presents a brief summary of current numerical algorithms for solving the Inverse Kinematics problem. Then a new approach based on the Extended Jacobian technique is compared with the current Jacobian Inversion method. The presented method is intended for use in the field of computer graphics for animation of articulated structures. 


inverse kinematics; Jacobian inversion; extended Jacobian technique

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ISSN 1210-2709 (Print)
ISSN 1805-2363 (Online)
Published by the Czech Technical University in Prague