Pose vs Path Wise IK

Pose-Wise

Ranged IK Relaxed IK

Solving for a single end effector pose.

Input: A Robot $F$ and a goal $c$ Output: A set of joint configurations $q$ such that

$F(q)=c$ Typically done using optimization.

Path-Wise

Stampede

Solving for a path.

Input: A path in Task Space $T$ with elements $t_i$ Output: A path in Configuration Space $Q$ such that each configuration $q_i$ maps to $t_i$ and is feasible.

Sampling

IK Flow Stampede

A useful tool for Path-Wise IK to find better solutions. Stampede, for instance, selects waypoints along the path and samples many possible point-wise solutions.