IK solver algorithm fminconsqp performance (2025a prerelease)

Hello everyone,

I've been testing 2025a prerelease matlab version's new IK solver algorithm fminconsqp with default parameters, but BFGS with random restart enabled (while keeping other parameters default) still seems more powerful.

Am I missing something? I can’t quite figure out the advantage of this new solver.

Thanks in advance!

Answer 1

[Maneet Kaur Bagga]

Hi,

As per my understanding "fminconsqp" solver does not support random restart therefore it is prone to a local minima. Turning off the random restart in "BFGS" gives comparable results with both of them.

Hope this helps!

Answer 2

[Karsh Tharyani]

Hi @Martin,

Aside from what @Maneet Kaur Bagga mentioned, the solver also should solve the Inverse Kinematics or Generalized Inverse Kinematics problems in a fewer number of iterations and should generally be faster when a solution exists.

If you find this otherwise, please do not hesitate reach out to Technical Support https://www.mathworks.com/support/contact_us.html with your queries/concerns.

Best,

Karsh