대한인간공학회지 (Journal of the Ergonomics Society of Korea)
- 제14권2호
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- Pages.33-39
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- 1995
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- 1229-1684(pISSN)
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- 2093-8462(eISSN)
수치해석적 방법을 이용한 Inverse Kinematics에 관한 연구
A study of inverse kinematice using numerical methods
- Oh, P.K. (Dept. of Computer Engineering, Kyung Hee University) ;
- Kang, M.J. (Dept. of Computer Engineering, Kyung Hee University) ;
- Han, C.G. (Dept. of Computer Engineering, Kyung Hee University)
- 발행 : 1995.08.01
초록
The inverse Kinematics can be used for representing the motion of human body model. In order to find the final figure of the human body model with given target position, we can uwe the formula x=J .THETA. , where J is the Jacobian matrix of x=f( .THETA.), of the Inverse Kinematics. In this formula, f has so complicated form that it is difficult to calcuate the Jacobian matrix J by expanding all formulae exactly. In this paper, a numerical method that calculates the Jacobian matrix is proosed. The simulation results obtained by using the simple human model reprsent that the proposed. The simulation results obtained by using the simple human model represent that the proposed method is useful for generating the final figure of the body model.
키워드