ResearchBenchmarksInverse Kinematics on Franka Arm 2000 random valid joint configurations Locking S. AngleFollow41.7Computation Time (Joint Angles, µs)GeoFIK35.44877.649119.85162.051Mar 6, 2025Evaluation ResultsMethodMethodLinksComputation Time (Joint Angles, µs)Computation Time (Jacobian Only, µs)Computation Time (Jacobian + Joint Angles, µs)Number of Valid Solutions per CallTotal Number of Valid SolutionsTotal Number of Wrong SolutionsEE Position Error Mean (m)EE Rotation Error Mean (rad)GeoFIKCompiler=gcc, Statisti...Compiler=gcc, Statistic=Min/Max, Optimization flag=-O32025.0341.730.841.604,042012GeoFIKCompiler=gcc, Statisti...Compiler=gcc, Statistic=Mean ± Std, Optimization flag=-O32025.03198192.1204.224,042012