Explainable Neural Inverse Kinematics for Obstacle-Aware Robotic Manipulation: A Comparative Analysis of IKNet Variants

Sheng-Kai Chen, Yi-Ling Tsai, Chun-Chih Chang +2

Deep neural networks have accelerated inverse-kinematics (IK) inference to the point where low cost manipulators can execute complex trajectories in real time, yet the opaque natur…