A Fast Inverse Kinematics Algorithm for Joint Animation

The cyclic coordinate descent(CCD) is a well-known algorithm used for inverse kinematics solutions in multi-joint chains. CCD algorithm can be easily implemented, but it can take a series of iterations before converging to a solution and also generate improper joint rotations. This paper presents a novel Target Triangle algorithm that can fast decides orientation and angle of joint rotation, and eliminates problems associated with improper and large angle rotations. Experimental results are presented to show the performance benefits of the proposed algorithm over CCD methods.