Higher-Order Kinematic Derivatives for Aspect-Preserving Real-Time Numerical Inverse Kinematics
Overview
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.
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- arXiv Robotics — research abstractsSignalHigher-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.
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