如何计算逆运动学 [英] How to calculate inverse kinematics

问题描述

我想知道如何使用逆运动学来计算旋转角度.我正计划将其用于实时3d动画.有人知道一些详细介绍特定解决方案的优秀文献吗?

解决方案

以下资源概述了一些用于逆运动学问题的流行数值方法:

• Samuel R. Buss. 采用Jacobian转置，伪逆和阻尼最小二乘法的逆运动学简介

• 比尔·巴克斯特(Bill Baxter). 用于逆运动学的快速数值方法

• 克里斯·韦尔曼. 关节运动的图形操纵的逆运动学和几何约束

Buss的调查可能特别有趣，因为它明确讨论了多个方面.

用于动画的IK系统通常必须支持多个可能有冲突的约束.例如，一只手臂可以保持在轨道上，而另一只手臂可以到达目标.

• 赵建民和诺曼·巴德勒. 使用非线性编程对高度关节运动的人物进行反向运动学定位

正如安德鲁(Andrew)提到并在 eg IKAN:使用分析方法的逆运动学

Kulpa和Multon. 针对类人像的快速运动学和动力学逆求解器

I want to know how to calculate rotation angles using inverse kinematics. I am planning on using this for real time 3d animation. Anyone know of some good literature that details a specific solution?

解决方案

The following resources survey some popular numerical methods for inverse kinematics problems:

• Samuel R. Buss. Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods

• Bill Baxter. Fast Numerical Methods for Inverse Kinematics

• Chris Welman. Inverse Kinematics and Geometric Constraints for Articulated Figure Manipulation

Buss's survey may be particularly interesting, because it explicitly discusses multiple limbs.

IK systems for animation must generally support multiple, possibly conflicting, constraints. For example, one arm can hold on to a rail while the other arm reaches for a target.

• Jianmin Zhao and Norman Badler. Inverse Kinematics Positioning Using Nonlinear Programming for Highly Articulated Figures

6 dof industrial robots generally have closed form IK solutions, as mentioned by Andrew and explained in e.g. Craig: Introduction to Robotics. More useful for figure animation are methods for 7 dof human-like arms and legs:

• IKAN: Inverse Kinematics using ANalytical Methods

• Kulpa and Multon. Fast inverse kinematics and kinetics solver for human-like figures

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