In this project we formulate the problem of Inverse Kinematics as an unconstrained optimization. For each frame, a pose "q" is solved to be minimized; thus, we solved for a sequence of optimizations to obtain a motion. The input is a C3D file with 3D coordinates for each marker.
What do we need?
A direction to move joints in such way that the constraint handles move towards the goal
What do derivatives tell us?
A direction constraint handles move if joints move
For more information, download the following PDF:
Inverse Kinematics