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Inverse kinematics is used in several fields of applications and computer graphics is one of them. This technique has found a good utilization especially as a tool for animation of articulated structures. The insight of the inverse kinematics is based on basic knowledge in kinematics generally. This paper presents an overview of the methods used to solve the problems concerning inverse kinematics. The difference between forward and inverse kinematics is explained in the beginning of the text. The basic terms and definitions are explained in the background section. Then the methods, their advantages, and disadvantages are reviewed. Finally, some aspects of implementation are discussed.

Lukas Barinka 2002-03-21