MANIPULATION OF BRANCHING GRAPHIC STRUCTURES USING INVERSE KINEMATICS

A graphic structure having a root block with a root, and at least two branch blocks each with an end effector, is manipulated from an initial configuration towards a goal configuration. The manipulation derives, in a succession of iterations, an update configuration positioning the end effectors closer to corresponding goal positions than in a prior configuration, and in one iteration, derives an update configuration by reducing the effect of a root block on an end effector of a branch block.