I read an article in game programming gems 3 about a simple method to get inverse kinematics running. My nephew was in need of code to do IK for his simple flash game, so i figured that I would make a set of images explaining what I had learned in the book.
Long story short: i ported it to English (we are from Norway), and made it resemble an article before posting it on my portal. It turned out OK so I figured someone else might want to read it. Here goes:
Cyclic Coordinate Descent Inverse Kinematics Howto