Cinemática inversa para simulação de figuras articuladas

Abstract

The simulation of articulated figures in computer graphics that represents animals, people or robots is usually composed of a chain of rigid segments connected by joints arranged in a hierarchical way. When these figures have many segments and need to be animated by inverse kinematics, their motion configuration may present multiple solutions or nonlinear solutions and motion singularities. This work proposes a new topology of joints of a variable hierarchy, general enough to apply to any articulated model. In addition, it proposes an inverse kinematics algorithm to supply the non linearity of the models already proposed A model like this generalizes the animation of articulated figures because it do not need to have a rigid joints topology and works to figures with many joints and segments. Hausdorff Distance was used to calculate the end-effector similarity with an ideal set of points. The accuracy achieved is 91,23% of similarity. Motion of all joints is smoother when compared to other models by minimizing 8,7% of the angles.