When performing inverse kinematics (IK) on a complicated bone chain, it can become too complex for an analytical solution. Cyclic Coordinate Descent (CCD) is an alternative that is both easy to implement and efficient to process。逆运动学问题一般采用解析法和基于Jacobian矩阵的迭代方法，前者虽然精度高而且能达 (IK) on a
阅读背景：
V-rep学习笔记：机器人逆运动学数值解法（Cyclic Coordinate Descent Method）
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