IK Solver Constraint

The Inverse Kinematics constraint implements the inverse kinematics armature posing technique. Hence, it is only available for bones. To quickly create an IK constraint with a target, select a bone in pose mode, and press Shift-I.

This constraint is fully documented in the Inverse Kinematics page, part of the rigging chapter.



Inverse Kinematics panel.

Data ID used to select the an armature.
Pole Target
Object for pole rotation.
Maximum number of solving iterations.
Chain Length

How many bones are included in the IK effect. Set to 0 to include all bones.

Use Tail
Include bone’s tail as last element in chain.
Enable IK stretching.
For Tree-IK: Weight of position control for this target.
Chain follow rotation of target.
Disable for targetless IK.
Chain follows rotation of target.

iTaSC Solver

If the iTaSC IK Solver is used, the IK Solver Constraint changes to add these addition parameters.

IK Type
Copy Pose

Equivalent to the traditional end effector position and orientation constraint: the end effector is constrained to take the position, and optionally the orientation, of a given target, which is set in the target field.

Position/Rotation Locking

Allows to obtain various effect by not constraining the coordinates along certain axis.

Axis Ref

Specifies how to compute the axis coordinates.

The coordinates are the position and orientation of the target relative to the bone.
The opposite of Bone, the coordinates are the position and orientation of the tip of the bone relative to the target.

Specify that the end effector will stay inside, at, or outside a sphere centered on the target object.

Limit Mode
The end effector will stay inside of the distance from the target object.
The end effector will stay outside of the distance from the target object.
On Surface
The end effector will stay exactly at the distance from the target object.
The radius from the target object.


The Influence parameter is not implemented if Pole Target is used.