TAMS-Group/bio_ik
MoveIt kinematics_base plugin based on particle optimization & GA
This project helps robotics engineers and researchers precisely control the movement of robotic arms and other high-DOF systems. It takes desired end-effector positions and orientations (target poses) and calculates the necessary joint angles for the robot to reach those targets. This allows for accurate robot motion planning, especially for complex tasks like multi-arm manipulation or avoiding joint limits.
260 stars. No commits in the last 6 months.
Use this if you need an efficient and accurate way to calculate inverse kinematics for your robot, especially for high-degree-of-freedom systems or tasks requiring multiple, simultaneous constraints.
Not ideal if you are not working with ROS and MoveIt, as this solver is designed as a plugin for that ecosystem.
Stars
260
Forks
92
Language
C++
License
BSD-3-Clause
Category
Last pushed
Feb 04, 2025
Commits (30d)
0
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