IK: Heuristic approach

Cyclic Coordinates Descent (CCD)

• - Iteratively rotates joint \(j^{N}\to j^{i-1}\to \dots \to j^{1}\) for the extremity (end effector) to be as close as possible from the target.
• • = End-effector aligned with the segment (joint,target)
• - Restart until convergence