ikdh 1.0.0

Inverse kinematics for general 6R serial robots (Husty-Pfurner algebraic method)

IKDH

IKDH is an Inverse Kinematics solver based on the Denavit and Hartenberg convention. It finds all solutions for general six revolute joint robots based on the Husty and Pfurner algorithm [1] and [2].

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Web Interface

Web Interface can be accessed here.

Robots can be browsed and downloaded from the RoboDK Robot Library. Once found, add your .robot file with load and the DH parameters will be directly extracted from it.

Terminal Commands

• cartesian motion : MoveL x_mm, y_mm, z_mm, roll_deg, pitch_deg, yaw_deg

  • set cartesian speed : SetSpeedL mm_per_s (default: 100 mm/s)

• joint motion : MoveJ J1_deg, J2_deg, J3_deg, J4_deg, J5_deg, J6_deg

  • set joint speed : SetSpeedJ deg_per_s (default: 60 °/s)

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Library

build the project

cmake -B build -S .
cmake --build build

Python example

import sys; sys.path.insert(0, 'build')
import ikdh

robot  = ikdh.load_robot("robots/your_robot.yaml")
solver = ikdh.Solver(robot.dh, robot.limits)

#                            x      y    z      roll pitch yaw
ee   = ikdh.pose_from_xyzrpw(500.0, 0.0, 500.0, 0.0, 90.0, 0.0)
sols = solver.solve(ee)   # list of (6,) numpy arrays, in degrees

for q in sols:
    print(q)

C++ example

#include <ikdh.h>
#include <robots.h>
#include <cstdio>

int main()
{
    auto robot = Robots::loadRobot("robots/gofa5.yaml");
    IKDH::Solver solver(robot.dh, robot.limits);

    auto ee = IKDH::poseFromXYZRPW(500.0, 0.0, 500.0, 0.0, 90.0, 0.0);
    auto sols = solver.solve(ee);

    for (size_t i = 0; i < sols.size(); ++i) {
        for (double q : sols[i]) printf("%.3f ", q);
        printf("\n");
    }
}

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How to cite

@misc{axel_ikdh_2026,
  author       = {Axel Refalo},
  title        = {IKDH: An Inverse Kinematics Solver based Denavit and Hartenberg Convention},
  year         = {2026},
  publisher    = {GitHub},
  journal      = {GitHub Repository},
  howpublished = {\url{https://github.com/Lab-CORO/IKDH}},
}

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References

[1] M. Husty, M. Pfurner and H.-P. Schröcker. A new and efficient algorithm for the inverse kinematics of a general serial 6R manipulator, Mech. Mach. Theory 42: 66–81, 2007.

[2] J. Capco, M. J. C. Loquias, S. M. M. Manongsong and F. R. Nemenzo. Inverse Kinematics of Some General 6R/P Manipulators, arXiv:1906.07813, 2019.