2026
GeoFIK: A Fast and Reliable Geometric Solver for the IK of the Franka Arm Based on Screw Theory Enabling Multiple Redundancy Parameters
ICRA 2026poster
Modern robotics applications require an inverse kinematics (IK) solver that is fast, robust and consistent, and that provides all possible solutions. Currently, the Franka robot arm is the most widely used manipulator in robotics research. With 7 DOFs, the IK of this robot is not only complex due to…