# Help, it's my understading of the Inverse kinematics algorithm right?

I want implement the IK algorithm,but I haven't the slightest idea about IK before, after reading some papers and lecuture I downloaded from the
internet, I still cann't fully understand it, the following Pseudocode embodies my idea, I really need your help to make me master the algorithm. By the way, I just want to use IK to drive the articulated body.
Pseudocode:
input initial estimate of d¦È0;
While(||J¡¤d¦È-dx||¡Ü¦Å¡ÅIterNum¡ÝMaxIterNum)
{
EstablishJacobian(d¦È);//establish the Jacobian matrix;
calculate dX;
calculate calculate J-1;(using Gauss eliminating method if the matrix is square, else use pseudo inversion)
calculate d¦È using equation d¦È=dX¡¤J-1;
}
EstablishJacobian(d¦È)
{
compute end effector transformation T 6
store 4th column of T 6 as P N
for( i=1;iI<=N;i++)
compute matrix G(G=G¡¤Ai-1, G  if i=1)
store 4th column of G as Pi-1 (3 element vector)
store 3th column of G as Zi-1
compute column i of Jacobian using contiguous
( [dx i , dy i , dz]T=Zi-1¡Á(PN-Pi-1) [¦Äx,¦Äy,¦Äz]T=Zi-1 )
}
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I want implement the IK algorithm,but I haven't the slightest idea about IK before, after reading some papers and lecuture I downloaded from the internet, I still cann't fully understand it, the following Pseudocode embodies my idea, I really need your help to make me master the algorithm. By the way, I just want to use IK to drive the articulated body.
Pseudocode:
input initial estimate of d¦È0;
While(||J¡¤d¦È-dx||¡Ü¦Å¡ÅIterNum¡ÝMaxIterNum)
{
EstablishJacobian(d¦È);//establish the Jacobian matrix;
calculate dX;
calculate calculate J-1;(using Gauss eliminating method if the matrix is square, else use pseudo inversion)
calculate d¦È using equation d¦È=dX¡¤J-1;
}
EstablishJacobian(d¦È)
{
compute end effector transformation T 6
store 4th column of T 6 as P N
for( i=1;iI<=N;i++)
compute matrix G(G=G¡¤Ai-1, G  if i=1)
store 4th column of G as Pi-1 (3 element vector)
store 3th column of G as Zi-1
compute column i of Jacobian using contiguous
( [dx i , dy i , dz]T=Zi-1¡Á(PN-Pi-1) [¦Äx,¦Äy,¦Äz]T=Zi-1 )
}