Forward and Inverse Kinematics Seamless Matching using Jacobian

Z., Bhatti and Shah, Asadullah and F., Shahidi and M., Karbasi (2013) Forward and Inverse Kinematics Seamless Matching using Jacobian. Sindh University Research Journal (Science Series), 45 (2). pp. 387-392. ISSN 1813-1743

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Abstract

In this paper the problem of matching Forward Kinematics (FK) motion of a 3 Dimensional (3D) joint chain to the Inverse Kinematics (IK) movement and vice versa has been addressed. The problem lies at the heart of animating a 3D character having controller and manipulator based rig for animation within any 3D modeling and animation software. The seamless matching has been achieved through the use of pseudo-inverse of Jacobian Matrix. The Jacobian Matrix is used to determine the rotation values of each joint of character body part such as arms, between the inverse kinematics and forward kinematics motion. Then moving the corresponding kinematic joint system to the desired place, automatically eliminating the jumping or popping effect which would reduce the complexity of the system.

Item Type:	Article (Journal)
Additional Information:	6566/32251
Uncontrolled Keywords:	Inverse Kinematics, Forward Kinematics, Jacobian Matrix, Animation
Subjects:	Q Science > Q Science (General) T Technology > T Technology (General) > T10.5 Communication of technical information
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Information and Communication Technology Kulliyyah of Information and Communication Technology
Depositing User:	Prof Asadullah Shah
Date Deposited:	08 Oct 2013 09:39
Last Modified:	25 Jan 2021 10:18
URI:	http://irep.iium.edu.my/id/eprint/32251

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