ShakeLinkage[linkage] Recalculates the constraint equations of linkage starting from a randomly perturbed initial value. The goal of the function is to jump the linkage to another posture, which corresponds to another solution branch of the loop closing equations. The function returns the modified LinkageData. |

- ShakeLinkage uses the ParameterInitialGuess option of SetDrivingVariable function in order to change the initial guesses of the root finding. The function repeatedly calls the SetDrivingVariable function until the values of the $DerivedParametersB parameters are not changing or the cycle number exceeds the MaxIterations option value .

- ShakeLinkage keeps track the periodic and non-periodic loop variables.

- The following main options can be given:

MaxIterations | Automatic | MaxIterations is an option that specifies the maximum number of iterations that should be tried in various built-in functions and algorithms. | |

JointLimitCheck | False | JointLimitCheck is an option for SetDrivingVariables function, that switches on or off the limit check in case of the driving variables. | |

AccuracyGoal | Automatic | AccuracyGoal is an option for various numerical operations which specifies how many effective digits of accuracy should be sought in the final result. | |

WorkingPrecision | MachinePrecision | WorkingPrecision is an option for various numerical operations which specifies how many digits of precision should be maintained in internal computations. |