About

Welcome to RelaxedIK! We implement the methods discussed in our paper RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion and CollisionIK: A Per-Instant Pose Optimization Method for Generating Robot Motions with Environment Collision Avoidance.

RelaxedIK is an inverse kinematics (IK) solver designed for robot platforms such that the conversion between Cartesian end-effector pose goals (such as “move the robot’s right arm end-effector to position X, while maintaining an end-effector orientation Y”) to Joint-Space (i.e., the robot’s rotation values for each joint degree-of-freedom at a particular time-point) is done both ACCURATELY and FEASIBLY. By this, we mean that RelaxedIK attempts to find the closest possible solution to the desired end-effector pose goals without exhibiting negative effects such as self-collisions, environment collisions, kinematic-singularities, or joint-space discontinuities.

CollisionIK is a per-instant pose optimization method that can generate configurations that achieve specified pose or motion objectives as best as possible over a sequence of solutions, while also simultaneously avoiding collisions with static or dynamic obstacles in the environment. CollisionIK extends RelaxedIK by incorporating environment collision avoidance into the optimization structure.