# Inverse Kinematics with Forward Dynamics Solvers for Sampled Motion Tracking

arXiv: https://arxiv.org/abs/1908.06252 · HTML: https://mlsanity.com/paper/1908.06252/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 17 Aug 2019.

## Built on by (most cited first, 1 of 1)

- [Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks](https://mlsanity.com/paper/2308.14206/) (2023)

## Abstract (arXiv)

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.