Analytical solution for anthropomorphic limbs model, (IK of human arm)

This paper considers a proposed algorithm for computation of the inverse kinematic(IK) model of the human arm. This algorithm introduces a new IK method suitable for reaching tasks performed by autonomous and interactive virtual humans. The basic problem is to pose the character in such a way that arm hand reaches the target ( position and orientation ) in space. The algorithm is composed of two phases. The first phase is the limitation of real task which concerning the human arm movement and the second phase presents the analytical solution for inverse kinematic problem (IKP) by trigonometric relations and algebraic solution according to limitation of joints. This algorithm is simulated by using MATLAB Ver. R2008a, and satisfied results are obtained, that explains the ability of the proposed algorithm to solve the inverse kinematic problem for real human arm.