We show how to compute globally optimal solutions to inverse kinematics (IK) by formulating the problem as an indefinite quadratically constrained quadratic program. Our approach makes it feasible to solve IK instances of generic redundant manipulators. We demonstrate the performance on randomly generated designs and on real-world robots with up to ten revolute joints. The same technique can be used for manipulator design by introducing kinematic parameters as variables.

翻译：我们展示了如何通过将逆运动学问题表述为不定二次约束二次规划，来计算其全局最优解。该方法使得求解通用冗余机械臂的逆运动学实例成为可能。我们在随机生成的设计方案以及包含多达十个旋转关节的真实机器人上验证了其性能。通过将运动学参数作为变量引入，同一技术还可用于机械臂设计。