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Paper on Real-Time Inverse Kinematics Using Higher-Order Kinematic Derivatives Released
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Steffan Lloyd released a paper proposing a shape-preserving real-time numerical inverse kinematics method that uses higher-order kinematic derivatives of serial robots, and presents the QuIK4 and QuIK5 solvers with fourth-order and fifth-order convergence. The method also includes a shape-preserving step-size limiter that extrapolates the Jacobian determinant along the step to predict and avoid singularities, as well as a certifier and certified restart algorithm that use Hermite interpolation to verify the shape preservation of solutions. The author claims that, compared with existing methods, the failure rate is reduced by up to four orders of magnitude, and releases a C++ library with ROS 2 integration.
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- Higher-Order Kinematic Derivative Methods for Aspect-Preserving Real-Time Numerical Inverse Kinematics
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.
arXiv cs.RO ·
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