This package contains a benchmark of concurrent inverse kinematics solvers for robot-assisted minimally invasive surgical robots. The benchmark include unconstrained and constrained scenarios, where the constraints are defined by a set of joint limits and a remote-center-of-motion (RCM).
Concurrent IK solvers are based on the concurrent deployment of the single-method IK solvers:
- INVJ: Inverse Jacobian IK solver
- NLO: Nonlinear Optimization IK solver
- HQP: Hierarchical Quadratic Programming IK solver
The following concurrent ik solvers are implemented and benchmarked:
- INVJ+NLO
- INVJ+HQP
- HQP+NLO
- INVJ+NLO+HQP
Prerequisities;
- TRAC-IK
- Orocos-KDL
- Pinocchio
- CASADI (with the plugins for IPOPT and OSQP)
- IPOPT
- OSQP