In many instances it is advantages and helpful to bake procedural animation and/or IK/SPIK to keyframe data. This allows you to have more control over what you are working on, and it is more exact and easier to generate various things like looping animations.
To do this, use Procedural Motion Baker 5.1. You will also need to install the following three tools libraries if you haven't done so already:
The tool is fairly easy to use. The workflow is as follows:
Below you can see a SPIK chain that has been baked to keyframed objects (a slider is also rotating the chain). In the second image the SPIK arm has been rotated down a bit so you can see the new keyframed bones:
This is mainly a tool for Animation TDs, as it creates an entirely new hierarchy.