# Higher-Order Kinematic Derivative Methods for Aspect-Preserving Real-Time Numerical Inverse Kinematics

- Source: arXiv cs.RO
- Published: 2026-11-02T05:00:00.000Z
- RoboHot: https://robohot.news/en/items/amiplre373koqw1ty64s0we3n
- Original: https://arxiv.org/abs/2610.41752

## Summary

The paper uses higher-order kinematic derivatives of serial robots to propose an aspect-preserving real-time numerical inverse kinematics method, yielding the QuIK4 and QuIK5 solvers with fourth- and fifth-order convergence. The method also includes an aspect-preserving step limiter that extrapolates the Jacobian determinant along the step to predict and avoid singularities, as well as a certifier that uses Hermite interpolation to verify the aspect of solutions and a certified restart algorithm. The authors claim the failure rate is reduced by up to four orders of magnitude compared with existing methods, and they release a C++ library with ROS 2 integration.