FA-88219 / Inverse kinematics solvers / Member archive

Damping ramps linearly instead of quadratically inside the zone · case 04

Joint velocities near the zone edge are over-damped.

Member previewVariant 4 · 3 implementations · 7 checks per implementation

Case contract

Input [l1,l2,q1,q2,vx,vy,w0,lam0]: resolved-rate step for a planar 2R arm. Manipulability w=|l1 l2 sin q2|. Damping lam^2 = 0 when w>=w0, else lam0^2 (1-w/w0)^2. Solve (J^T J + lam^2 I) qdot = J^T v; if that matrix determinant is below 1e-12 return ["singular", w]. Return [status, qdot1, qdot2] in degrees per second, status "damped" when lam^2>0 else "exact".

Why this case matters

Inverse kinematics code turns task-space goals into joint commands; a wrong branch, sign, limit or update order sends a real arm to the wrong pose.

One recorded failure

Sample boundary fixture

This sample comes from the broken implementation of a controlled reproducer.

Boundary fixture	Actual	Expected	Outcome
near singular damped	`["damped", 9.0308, -11.5977]`	`["damped", 11.4896, -16.5029]`	Failed

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