Share your thoughts, 1 month free Claude Pro on us
See more
Home
/
Benchmarks
Inverse Kinematics on Franka Arm Locking q6 2000 random valid joint configurations
Loading...
2.5
Joint Angles Computation Time (µs)
GeoFIK
1.036
10.918
20.8
30.682
Mar 6, 2025
Joint Angles Computation Time (µs)
Jacobian Computation Time (µs)
Jacobian + Joint Angles Computation Time (µs)
Valid Solutions Per Call
Total Valid Solutions
Total Wrong Solutions
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)
Valid Solutions Per Call
Total Valid Solutions
Total Wrong Solutions
EE Position Error Mean (m)
EE Rotation Error Mean (rad)
GeoFIK
Compiler=gcc, Statisti...
2025.03
2.5
0.4
2.6
1
7,119
0
9
3
GeoFIK
Compiler=gcc, Statisti...
2025.03
3.1
0.8
3.5
3.6
7,119
0
9
3
IKGeo
Compiler=gcc, Statisti...
2025.03
7.7
-
18
0
5,856
0
9
3
IKGeo
Compiler=gcc, Statisti...
2025.03
8.3
-
19.7
2.9
5,856
0
9
3
IKFast
Compiler=gcc, Statisti...
2025.03
33.7
-
39.5
1
7,119
0
7
1
IKFast
Compiler=gcc, Statisti...
2025.03
39.1
-
46.7
3.6
7,119
0
7
1
Feedback
Search any
task
Search any
task
