Higher-Order Kinematic Derivatives for Aspect-Preserving Real-Time Numerical Inverse Kinematics
Higher-Order Kinematic Derivatives for Aspect-Preserving Real-Time Numerical Inverse Kinematics
This paper presents QuIK4 and QuIK5 methods that use higher-order kinematic derivatives to achieve efficient, aspect-preserving real-time inverse kinematics for serial robots. The approach includes an orientation-error correction map, an aspect-preserving step limiter to avoid singularities, and a Hermite-interpolation certifier to verify solution aspects. Results show failures reduced by up to four orders of magnitude with nearly eliminated aspect switching at tracking-level errors. A C++ library with ROS 2 integration is released.
The paper introduces QuIK4 and QuIK5 methods using higher-order kinematic derivatives to improve real-time inverse kinematics stability, reducing failures by up to four orders of magnitude while preserving aspect ratios; a C++ library with ROS 2 integration is released.
Source: arXiv Robotics — research abstracts · Read original article ↗
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arXiv:2610.41752v1 Announce Type: new Abstract: This paper leverages the higher-order kinematic derivatives of serial robots to achieve efficient, aspect-preserving real-time inverse kinematics. First, a family of higher-order solvers is derived, with a necessary orientation-error correction map, yielding the QuIK4 and QuIK5 methods with fourth- and fifth-order convergence. Second, an aspect-preserving step limiter e
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xtrapolates the Jacobian determinant along the step to predict and avoid singularities, shortening steps only when they head toward a singularity rather than when the current iterate is ill-conditioned. Third, a Hermite-interpolation certifier verifies the aspect of each answer, and a certified restart algorithm recovers failures from proven same-aspect seeds. The proposed methods are shown to outperform prior method
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s, reducing failures by up to four orders of magnitude and nearly eliminating aspect switching at tracking-level errors. A C++ library is released with ROS 2 integration.
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Higher-Order Kinematic Derivatives for Aspect-Preserving Real-Time Numerical Inverse Kinematics
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Source：arXiv Robotics — research abstracts · arxiv.org