Understanding the MoveIt IKFast plugin

One of the default numerical IK solvers in ROS is KDL. This library is used to calculate the direct and inverse kinematics of a robot using the URDF. KDL mainly uses DOF > 6. In DOF <= 6 robots, we can use analytic solvers, which are much faster than numerical solvers, such as KDL. Most industrial arms have DOF <= 6, so it will be good if we make an analytical solver plugin for each arm. The robot will work on the KDL solver too, but if we want a fast IK solution, we can choose something such as the IKFast module to generate analytical solver-based plugins for MoveIt. We can check which are the IKFast plugin packages present in the robot (for example, universal robots and ABB):

• ur_kinematics: This package contains IKFast solver plugins of UR-5 and UR-10 robots from Universal Robotics.
• abb_irb2400_moveit_plugins/irb2400_kinematics: This package contains IKFast solver plugins for the ABB robot model IRB 2400.

We...