notesum.ai

Published at November 21

ETA-IK: Execution-Time-Aware Inverse Kinematics for Dual-Arm Systems

cs.RO

Released Date: November 21, 2024

Authors: Yucheng Tang¹, Xi Huang², Yongzhou Zhang³, Tao Chen⁴, Ilshat Mamaev⁵, Björn Hein

Aff.: ¹1,2,3; ²3; ³1,3; ⁴2,3; ⁵1,2

Arxiv: http://arxiv.org/abs/2411.14381v1

Metrics	Ref. $\mathbf{q}_{t}$	(A)	(B)	(C)	(D)	(E)	(F)
execution time by TOPPRA	2.71	2.618	2.363	2.477	2.053	2.450	2.807
Position error	0	0.0004	0.0002	0.0022	0.0016	0.0003	0.0003
IK success rate	-	100	100	98	100	100	100