How to Build a High-Performance UR5 Inverse Kinematics Solver with IK-Geo
9 days ago
- #inverse-kinematics
- #UR5
- #robotics
- Introduction to building a high-performance UR5 inverse kinematics solver using IK-Geo.
- IK-Geo offers significant performance improvements: >40x faster than IKFast, ~200x faster for single solutions, with errors on the order of machine epsilon.
- Features of IK-Geo include returning all solutions, handling singular solutions for smooth motion, and ease of implementation across multiple programming languages.
- The tutorial covers forward kinematics using the Product of Exponentials (POE) convention and solving the IK problem with subproblem decomposition.
- Three canonical geometric subproblems are introduced and solved to facilitate the UR5 IK solution.
- Performance evaluation shows IK-Geo's accuracy near machine precision and microsecond-level execution times.
- Comparison with other IK methods like IKFast highlights IK-Geo's superior speed, accuracy, and robustness.
- Conclusion emphasizes the applicability of the subproblem decomposition approach to various 6-DOF revolute robots and potential for further optimizations.
- All code and further reading materials are available in the aelias36/ik-geo-ur5 GitHub repo.