A Fast Inverse Kinematics Solution for an n-link joint chain

摘要

The Cyclic Coordinate Descent (CCD) is a wellknown algorithm used for inverse kinematics solutions inapplications 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 asolution, and also generate undesirable joint rotations. Thispaper presents a novel single-pass algorithm that is fast andeliminates problems associated with improper and largeangle rotations. Experimental results are presented to showthe performance benefits of the proposed algorithm overCCD and the “triangulation” methods, using differenttypes of cost functions.