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I am trying to solve for the Forward kinematics of a spatial parallel manipulator. Its loop closure (LC) equations are pretty long, and are being solved using numerical methods. As I am adding more links to my manipulator, loop closure equations are becoming bigger and more difficult for the numerical method to handle.

It just struck me then. In a CAD program, when I create an assembly of a manipulator and make its links move by dragging the links using mouse, CAD program is instantly solving forward kinematics of that manipulator.

How come the CAD programs respond so fast? Are they solving LC equations all the time? Even if I add more links to my manipulator in CAD program, it has no difference/delay in response!!

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