Number of Cycles and Position Error in Cyclic Inverse Kinematics for n-Link Serial Robot

Inverse kinematics of mechanic system is area of solution at many universities and scientific research institutions. This paper dealt with of solution problem of inverse kinematic by cyclic coordinate descent method (CCD). This method allows use n-link chain mechanism without complicated changing of control algorithm. The article is focuses on the issue of 50-links mechanism. Also presents a modified method the incremental CCD, which is compared with this method. From the perspective of number of cycles required to achieve the desired position and error from desired position. For better understanding difference between these two methods we use the smoothing methods for simplification of comparison.