Many different programs (Such as FOSS programs IKFast and Inverse Kinematics Library) are able to solve these problems quickly and efficiently using different algorithms such as the FABRIK solver. One issue with these solvers, is that they are known to not necessarily give locally smooth solutions between two adjacent configurations, which can cause instability if iterative solutions to inverse kinematics are required, such as if the IK is solved inside a high-rate control loop.