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||¡??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