I think that IK are much more powerful in real time key frames in bones compared to FK. And should FK and IK be jointly used to simulate a realistic motion? I found some helpful resources here. This is a survey about IK used in CG. Though it si from 5 years ago, the basic concepts are still helpful. And Here is a video that talk about IK and FK, and how to use them in blender.
I think that IK are much more powerful in real time key frames in bones compared to FK. And should FK and IK be jointly used to simulate a realistic motion? I found some helpful resources here. This is a survey about IK used in CG. Though it si from 5 years ago, the basic concepts are still helpful. And Here is a video that talk about IK and FK, and how to use them in blender.