Hi,

I want to know how to find out the best IK solver to use for my project. I am trying to let the end-effector of the ur5 robot follow a path with MoveIt's Cartesian path planning. All waypoints in the path are quite close to each other and also the orientation changes with every waypoint. I would like it to use position and orientation data (in quaternions) from an object that is tracked by a motion capture system as input for the position of the end-effector.

I would like to use the IK solver that has the lowest chance of running into errors because it cannot find a solution. It does not matter to me how long the computational time is as long as it succeeds in finding a solution to complete the Cartesian path.

Is there somewhere an overview of all solvers with their pros and cons?