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Cyclic coordinate descent (CCD)

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