Inverse Kinematics on Franka Arm Locking q6 2000 random valid joint configurations
2.5Joint Angles Computation Time (µs)GeoFIK
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| GeoFIKCompiler=gcc, Statistic=Min/Max, Optimization flag=-O32025.03 | 2.5 | 0.4 | 2.6 | 1 | 7,119 | 0 | 9 | 3 | |
| GeoFIKCompiler=gcc, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 3.1 | 0.8 | 3.5 | 3.6 | 7,119 | 0 | 9 | 3 | |
| IKGeoCompiler=gcc, Statistic=Min/Max, Optimization flag=-O32025.03 | 7.7 | — | 18 | 0 | 5,856 | 0 | 9 | 3 | |
| IKGeoCompiler=gcc, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 8.3 | — | 19.7 | 2.9 | 5,856 | 0 | 9 | 3 | |
| IKFastCompiler=gcc, Statistic=Min/Max, Optimization flag=-O32025.03 | 33.7 | — | 39.5 | 1 | 7,119 | 0 | 7 | 1 | |
| IKFastCompiler=gcc, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 39.1 | — | 46.7 | 3.6 | 7,119 | 0 | 7 | 1 |