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Kinematics and Inverse Kinematics

The study of motion independent of the forces that cause the motion. Includes position, velocity, acceleration.
Forward kinematics:
The determination of the of all the links in an articulated model given the of the root of the model and all the transformations between links.
Inverse kinematics:
The derivation of the motion of intermediate links in an articulated body given the motion of some key links.

CS488/688: Introduction to Interactive Computer Graphics
University of Waterloo
Computer Graphics Lab