RelaxedIK: Real-time Synthesis of Accurate and Feasible Robot Arm Motion

Abstract

We present a real-time motion-synthesis method for robot manipulators, called RelaxedIK, that is able to not only accurately match end-effector pose goals as done by traditional IK solvers, but also create smooth, feasible motions that avoid jointspace discontinuities, self-collisions, and kinematic singularities.