From "The Weather Makers", p41.
The Milankovich cycles are
1) The elliptical orbit around the sun changes shape over a period of about 100,000 years. This is the eccentricity of the orbit. Sometimes it is more elliptical than others. At present, there is only a six percent difference between January and July in the radiation reaching the earth from the sun. However, at it's most elliptical, the difference is between 20 and 30 percent.
2) The 42,000 year cycle of the earth's tilt on it's axis. This varies between 21.8 and 24.4 degrees. This does not alter the total radiation hitting the earth, but alters where it will fall.
3) The final cycle of 22,000 years is the wobble of the earth on it's axis. When the axis shifts from pointing to the Pole Star to more Vega, the winters will be more cold, the summers more hot.
Only when the continental drift brings the earths land surfaces closer to the Poles, these cycles will cause an ice age. Mild summers and cold winters allow snow to accumulate, until it forms great ice domes.
Even at their most extreme, the cycles only cause a total variation in the energy reaching the earth of less than 1/10 of one percent.
However, this small a variation will cause a temperature rise of 5C.
Such small inputs, or forcings, can cause such huge temperature variations. Computer models cannot simulate an ice age unless the CO2 in the atmosphere is reduced in the Souther hemisphere.