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Cyclic coordinate descent

This method works fine for simple structures, but for more complicated ones could be worse. When the change must be done near the base, the algorithm must pass all the joints in the path from the end effector to the changing joint and therefore the computation slows down [Wel93]. The next feature of the CCD method is that it produces motion more like a void chain than a rubber. That behavior could hamper in the figure animation.

The nice feature of the CCD method is that this method is free of singularities and it does not include matrix inversion. In many cases, only few passes are enough to achieve a sufficient precision and therefore this method could be used in real time applications.

Lukas Barinka 2002-03-21