Inverse Kinematics on Franka Arm 2000 random valid joint configurations Locking q4
5.1Joint Angles Computation Time (µs)GeoFIK
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| GeoFIKCompiler=gcc, Statistic=Min/Max, Optimization flag=-O32025.03 | 5.1 | 0.9 | 5.2 | 1 | 9,742 | 0 | 6 | 3 | |
| GeoFIKCompiler=gcc, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 5.4 | 1.4 | 5.6 | 4.9 | 9,742 | 0 | 6 | 3 | |
| IKGeoCompiler=gcc, Statistic=Min/Max, Optimization flag=-O32025.03 | 5.5 | — | 10.5 | 0 | 5,137 | 0 | 5 | 3 | |
| IKGeoCompiler=gcc, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 6.1 | — | 11.4 | 2.6 | 5,137 | 0 | 5 | 3 | |
| IKFastCompiler=gcc, Statistic=Min/Max, Optimization flag=-O32025.03 | 16.6 | — | 17 | 1 | 9,742 | 0 | 6 | 1 | |
| IKFastCompiler=gcc, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 18.7 | — | 19 | 4.9 | 9,742 | 0 | 6 | 1 |