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Another interesting approach is represented by CCD method [Wel93],
[Ebe01]. The CCD is based on minimization applied to each joint
separately. The steps in one pass are ordered from the most distant
segment to the base segment. The difference between this method
and the previous one is that just one joint variable is modified in
one step. A number of passes are made over the manipulator to find
the global minimum of equation (9).
According to the fact, that the only one joint variable
is changing along the minimization process, an analytic solution
could be used. That significantly speeds up the minimization problem
[Wel93].

Lukas Barinka
2002-03-21