# Inverse Kinematics

Hi there!
I finally decided to get myself into IK. However, I wasn’t able to find a mathematical introduction for beginners (even not really for advanced…).
My specific interrest is controlling a (physical) robot-arm.

Michael

Hi you…

but I use english very poor OK…

OK this:
you must be mathematical vertices
** build physc vertices anchesterized fordaweel matrix first
Va = [VX1, VY1, VZ1]
[VX2, VY2, VZ2]
[VX3, VY3, VZ3]
** build physc bones anchesterized foraniel matrix
Ba = [BX1, BY1, BZ1]
[BX2, BY2, BZ2]
[BX3, BY3, BZ3]

physc vertices with bones mathematic
Va = [VX1VZ1+Ba[BX1],VY1,VZ1][VX2,VY2VZ2-Ba[BY2],VZ2][VX3,VY3,VZ3*VX3+Ba[BZ3]]
if you want to activate the bone IK mathematic [Rotate X Axis terminologies]
Va = [VX1,Sin(VY1)*Cos(BY1),VZ1][VX2,VY2,VZ2+(CosT(BX2-VX1)TanG(BZ2/VZ2))][VX3,Sin(VY3BY3)+Cos(VZ3/BZ3),VZ3]

if you join matrix Va to Ba you can use this to control the robot arm but robot are use various different vertices but you control arm the finger part must be anchesterized fordaweel the shoulder, arm and hand vertices part behavior

OK MATHEMATIC
Va1 := Sqrt((Sin(VX1/BX1)Cos(VY1/BY1)+VZ1)/BZ1+(Sin(VY2)Sin(VX2)/Cos(VZ2)+BY2)+(Sqrt(VX3VX3/BX3)(VZ3+VX2+VX1/BX1+BX2+BX3))
the hand and finger vertices part mathematic
HandX := Va1+XVa2+XVa3+XVa4+X…Va[MAX_ARM_VERTICES_X_COORD]+X
HandY := Va1+Y
Va2+YVa3+YVa4+Y…Va[MAX_ARM_VERTICES_Y_COORD]+Y
HandZ := Va1+ZVa2+ZVa3+Z*Va4+Z…Va[MAX_ARM_VERTICES_Z_COORD]+Z

that easily? bye bye dude I will sleep
Dol