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How to Build a High-Performance UR5 Inverse Kinematics Solver with IK-Geo
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To measure solution accuracy, we generate 10,000 random joint angles and calculate the end effector poses using forward kinematics. The algorithm also returns continuous approximate solutions when the desired pose is outside the workspace, either because of small numerical issues or in applications like teleoperation. In this tutorial, we showed how the subproblem decomposition approach can be used to derive a fast, accurate, and robust IK solver for the UR5 robot arm.
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