Inverse kinematics

In computer animation and robotics, inverse kinematics (IK) is the mathematical process of calculating the variable joint parameters needed to place the end of a kinematic chain, such as a robot manipulator or an animation rig's hand or foot, in a given position and orientation (relative to the start of the chain). IK operations are computationally much more complex than forward kinematics, in which joint parameters are trigonometrically calculated to achieve the position and orientation of the chain's end.

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