Application of Rigid Joint Chain in Arc-Length-Preserving Curve Deformation

Based on the technique of inverse kinematic chain, the problem of mid-point-goal deformation is solved, thus avoiding the repeated reconstruction joint chains. A potential function with joint angle limits as constraint is defined as objective, and dynamics is introduced into inverse kinematic method by solving a constrained optimization problem. It accords with the physical attribute of the object to be deformed,therefore the animation effect is more realistic. The method can be applied in the fields of character animation, cloth simulation and robot task programming.