ZhengLiu-cart/IK_qp
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update the comparison results.

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LiuzhengSJ
2026-06-05 09:56:33 +01:00
parent 48453fa5c8
commit ddbbb1746e
2 changed files with 14 additions and 8 deletions
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10
README.md
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@ -14,19 +14,21 @@ Comparison with Realman official IK method.
Embedded with current demo.
Comparison (04June2026):
### Comparison (05June2026):
- With current dual arm joint limit,
```
ub = np.array([150.0, 110.0, 170.0, 130, 175.0, 125.0, 179.0])\
ub = np.array([150.0, 110.0, 170.0, 130, 175.0, 125.0, 179.0])
lb = np.array([-150.0, -30.0, -170.0, -130, -175.0, -125.0, -179.0])
```
the success rates for qp-based ik and realman Algo ik are 45% and 23%.
the success rates for **qp-based ik** and **realman Algo ik** are **63%** and **46%**.\
At least one solver works out the ik, rate = **74%**.
- With realman-75 physical joint limit,
```
ub = np.array([179.0, 129.0, 179.0, 134, 179.0, 127.0, 359.0])
lb = -ub
```
the success rates for qp-based ik and realman Algo ik are 76% and 51%.
the success rates for **qp-based ik** and **realman Algo ik** are **76%** and **51%**.\
At least one solver works out the ik, rate = **84%**.

12
kine_ctrl/main.py
View File

@ -107,9 +107,9 @@ def demo_position_control():
result = np.array([[0,0],[0,0]], dtype=np.int32) # qp_fk, qp_ik, rm_fk, rm_ik
solve_sum = 0
for i in range(1000):
for i in range(2000):
print(f'\n-------------- in i = {i} ----------------')
joint_rand = np.random.uniform(ub/180*pi, lb/180*pi)
print(f'the predefined joints are {joint_rand}')
@ -135,8 +135,8 @@ def demo_position_control():
joint_rand_init = np.random.uniform(ub/180*pi, lb/180*pi)
print(f'the guess is {joint_rand_init}')
joint_solution, success, error, ite = robot_kine_qp.inverse_kinematics(
t_p[0:3], target_rpy=t_p[3:6], initial_guess=joint_rand_init,
max_iter=500, debug=False, tool=tool_name)
t_p[0:3], target_rpy=t_p[3:6], initial_guess=joint_rand_init,
max_iter=500, debug=False, tool=tool_name)
print(f'joint_solution = {joint_solution}, success = {success}, error = {error}, ite = {ite}')
if success:
@ -163,7 +163,11 @@ def demo_position_control():
else:
print(f'== fail in the rm ik, ret = {ret}y, q = {q}')
if success or ret == 0:
solve_sum += 1
print(f'result is {result}')
print(f'solve_sum is {solve_sum}')