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Benchmarks
Inverse Kinematics on Franka Arm 2000 random valid joint configurations Locking q4
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5.1
Joint Angles Computation Time (µs)
GeoFIK
4.556
8.228
11.9
15.572
Mar 6, 2025
Joint Angles Computation Time (µs)
Jacobian Computation Time (µs)
Jacobian + Joint Angles Computation Time (µs)
Average Valid Solutions per Call
Total Valid Solutions Count
Total Wrong Solutions Count
EE Position Error Mean (m)
EE Rotation Error Mean (rad)
Updated 1mo ago
Evaluation Results
Method
Method
Links
Joint Angles Computation Time (µs)
Jacobian Computation Time (µs)
Jacobian + Joint Angles Computation Time (µs)
Average Valid Solutions per Call
Total Valid Solutions Count
Total Wrong Solutions Count
EE Position Error Mean (m)
EE Rotation Error Mean (rad)
GeoFIK
Compiler=gcc, Statisti...
2025.03
5.1
0.9
5.2
1
9,742
0
6
3
GeoFIK
Compiler=gcc, Statisti...
2025.03
5.4
1.4
5.6
4.9
9,742
0
6
3
IKGeo
Compiler=gcc, Statisti...
2025.03
5.5
-
10.5
0
5,137
0
5
3
IKGeo
Compiler=gcc, Statisti...
2025.03
6.1
-
11.4
2.6
5,137
0
5
3
IKFast
Compiler=gcc, Statisti...
2025.03
16.6
-
17
1
9,742
0
6
1
IKFast
Compiler=gcc, Statisti...
2025.03
18.7
-
19
4.9
9,742
0
6
1
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