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I'll make a plug for software I wrote based on sequential quadratic programming. It performs significantly better than inverse Jacobian methods in the presence of high-dof and joint limits. Here's a link to the software and paper: https://bitbucket.org/traclabs/trac_ik

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Inverse Jacobian Methods can be computationally expensive. I suggest using FABRIK methods (suggested for JavaScript). Algorithm and pseudo-code here: https://medium.com/unity3danimation/create-your-own-ik-in-un...

Very interesting.

What is the best IK algorithm to implement in JavaScript given that it has to be small enough to download but also robust and fast and probably something one can implement without spending too much time on it? Probably an impossible question... but I figured I'd ask in the hopes there was something easy and obvious here.

FABRIK: https://medium.com/unity3danimation/create-your-own-ik-in-un...

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