Blazing Fast UR5 Inverse Kinematics Solver using IK-Geo

This article presents a high-performance inverse kinematics (IK) solver for the UR5 robot arm, leveraging the IK-Geo library. Utilizing subproblem decomposition, it solves three canonical geometric subproblems to achieve speeds over 40x faster than IKFast, with accuracy reaching machine precision (10⁻¹⁶). Returning all solutions and gracefully handling singularities, it offers significant advantages for real-time control, path planning, and simulation, unlocking new capabilities in robotics.