CITATION.cff

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# Per-release version metadata (which version, when released) lives in the
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# archive time; the concept DOI below always resolves to the latest version.
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cff-version: 1.2.0
title: "ssik: Analytical inverse kinematics for 6R and 7R revolute arms"
message: "If you use ssik in academic work, please cite it via this metadata."
type: software
identifiers:
  - type: doi
    value: "10.5281/zenodo.20278005"
    description: "Concept DOI — always resolves to the latest released version."
authors:
  - given-names: Siddhartha
    family-names: Srinivasa
    email: siddhartha.srinivasa@gmail.com
    orcid: "https://orcid.org/0000-0002-5091-106X"
repository-code: "https://github.com/personalrobotics/ssik"
url: "https://personalrobotics.github.io/ssik/"
license: BSD-3-Clause
keywords:
  - robotics
  - inverse-kinematics
  - analytical-ik
  - 6R-manipulator
  - 7R-manipulator
  - manipulation
abstract: >
  ssik is a Python library that produces every analytical inverse-kinematics
  branch for 6R and 7R revolute manipulators. It ships 27 prebuilt arms
  (UR5, UR3e, UR5e, UR10e, UR16e, UR20, UR30, Puma 560, JACO 2, iiwa14, Gen3, Franka Panda, xArm7, xArm6, Z1, PiPER, Rizon 4, Kassow KR810, Rizon 10, CRX-10iA/L, YAM, big_yam, FR3, OpenArm L, OpenArm R, R1 Pro L, R1 Pro R) and a "ssik build"
  CLI that emits a self-contained per-arm artifact from a URDF. ssik covers kinematic classes that the
  standard subproblem-decomposition libraries do not — non-Pieper 6R
  (JACO 2's 55° twists), non-SRS 7R (Rizon 4, Kassow KR810), and
  approximate-SRS 7R (Kinova Gen3) — via a tier-based dispatcher backed by
  IK-Geo subproblems and a Husty-Pfurner Study-quaternion universal fallback.
references:
  - type: article
    authors:
      - family-names: Elias
        given-names: Alexander J.
      - family-names: Wen
        given-names: John T.
    title: "IK-Geo: Unified robot inverse kinematics using subproblem decomposition"
    journal: "Mechanism and Machine Theory"
    volume: 209
    start: 105971
    year: 2025
    publisher:
      name: "Elsevier"
  - type: article
    authors:
      - family-names: Husty
        given-names: Manfred L.
      - family-names: Pfurner
        given-names: Martin
      - family-names: Schröcker
        given-names: Hans-Peter
    title: "A new and efficient algorithm for the inverse kinematics of a general serial 6R manipulator"
    journal: "Mechanism and Machine Theory"
    volume: 42
    issue: 1
    year: 2007
    doi: 10.1016/j.mechmachtheory.2006.02.001
  - type: article
    authors:
      - family-names: Raghavan
        given-names: Madhusudan
      - family-names: Roth
        given-names: Bernard
    title: "Inverse Kinematics of the General 6R Manipulator and Related Linkages"
    journal: "Journal of Mechanical Design"
    volume: 115
    issue: 3
    start: 502
    end: 508
    month: 9
    year: 1993
    issn: "1050-0472"
    doi: 10.1115/1.2919218
  - type: article
    authors:
      - family-names: Ostermeier
        given-names: Daniel
      - family-names: Külz
        given-names: Jonathan
      - family-names: Althoff
        given-names: Matthias
    title: "Automatic Geometric Decomposition for Analytical Inverse Kinematics"
    journal: "IEEE Robotics and Automation Letters"
    volume: 10
    issue: 10
    start: 9964
    end: 9971
    year: 2025
    doi: 10.1109/LRA.2025.3597897
  - type: thesis
    authors:
      - family-names: Diankov
        given-names: Rosen
    title: "Automated Construction of Robotic Manipulation Programs"
    institution:
      name: "Carnegie Mellon University, Robotics Institute"
    thesis-type: "PhD thesis"
    year: 2010