== Motion Simulation - Dealing with the Ill-conditioned Equations of
Motion for Articulated Figures ==

This paper deals with the numerical problems associated with motion
simulation.  Primarily that dealing with articulated figures and inverse
kinematics produces several ill-conditioned problems, that is that their
is "unavoidable uncertainty arising from the nature of the problem being
solved.

Contribution of this paper - discussion of numerically controlling
parameters of an articulated figure "so that a desired motion results"

Questions surrounding this paper - I need to give this one a harder look
and go through the math more.