Inverse Kinematics methods

[projectileman]

Hi, do you know which is the most efficient InverseKinematics method for a generic robotic arm composed by many Joints (rotational and translational) ??

I only know one: Cyclic Continuous Difference (CCD), which is an iterative method for minimizing the distance between the effector and the target... is quite similar to this:
http://svn2.assembla.com/svn/ikanimatio ... ms/CCD.cpp

Do you know another analytic method for this?

thanks for your help.