A Fast Inverse Kinematics Solution for an n-link joint chain
The Cyclic Coordinate Descent (CCD) is a well known algorithm used for inverse kinematics solutions in applications involving joint-chains and moving targets. Even though a CCD algorithm can be easily implemented, it can take a series of iterations before converging to a solution, and also generate undesirable joint rotations. This paper presents a novel single-pass algorithm that is fast and eliminates problems associated with improper and large angle rotations. Experimental results are presented to show the performance benefits of the proposed algorithm over CCD and the “triangulation” methods, using different types of cost functions.