Kind of analytical inverse kinematics method
一种解析的反向运动学方法

This paper presented an analytical inverse kinematics method for the multi-joint case.Directly computed the new positions as well as the corresponding rotation component of all joints by analytical formulae.Contrasting with the conventional iterative methods,the new method needed no iterative computation and had better computation efficiency.It seemed more suitable for high interactivity and real-time applications such as motion editing.Examples show the efficiency of the new method.