{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/inverse-kinematics-with-forward-dynamics","title":"Inverse Kinematics with Forward Dynamics Solvers for Sampled Motion Tracking","arxiv_id":"1908.06252","date":"2019-08-17","proceeding":null,"authors":["Stefan Scherzinger","Arne Roennau","Rüdiger Dillmann"],"abstract":"Tracking Cartesian motion with end~effectors is a fundamental task in robot control. For motion that is not known in advance, the solvers must find fast solutions to the inverse kinematics (IK) problem for discretely sampled target poses. On joint control level, however, the robot's actuators operate in a continuous domain, requiring smooth transitions between individual states. In this work, we present a boost to the well-known Jacobian transpose method to address this goal, using the mass matrix of a virtually conditioned twin of the manipulator. Results on the UR10 show superior convergence and quality of our dynamics-based solver against the plain Jacobian method. Our algorithm is straightforward to implement as a controller, using common robotics libraries.","url_abs":"https://arxiv.org/abs/1908.06252v2","url_pdf":"https://arxiv.org/pdf/1908.06252v2.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"links_only","authors_date_abstract":"arXiv metadata, CC0 1.0 (https://info.arxiv.org/help/license), from the Kaggle arXiv metadata snapshot of 2026-09-12"},"code_links":[{"paper_slug":"inverse-kinematics-with-forward-dynamics","repo_url":"https://github.com/fzi-forschungszentrum-informatik/cartesian_controllers","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":1,"framework":"none","reach":{"status":"ok","spdx":"BSD-3-Clause"}}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}