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      Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

      1 , 2 , 3
      Journal of Robotics
      Hindawi Limited

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          Abstract

          Inverse kinematics (IK) has been extensively applied in the areas of robotics, computer animation, ergonomics, and gaming. Typically, IK determines the joint configurations of a robot model and achieves a desired end-effector position in robotics. Since forward and backward teaching inverse kinematics (FABRIK) is a forward and backward iterative method that finds updated joint positions by locating a point on a line instead of using angle rotations or matrices, it has the advantages of fast convergence, low computational cost, and visualizing realistic poses. However, the manipulators usually work in a complex environment. So, the kinematic chains are easy to produce the interference with their surrounding scenarios. To resolve the above mentioned problem, a two-step obstacle avoidance technology is proposed to extend the basic FABRIK in this study. The first step is a heuristic method that locates the updated linkage bar, the root joint, and the target position in a line, so that the interference can be eliminated in most cases. In the second step, multiple random rotation strategies are adopted to eliminate the interference that has not been eliminated in the first step. Experimental results have shown that the extending FABRIK has the obstacle avoidance ability.

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          Most cited references34

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          Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control

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            Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods

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              • Record: found
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              Efficient inverse kinematics for general 6R manipulators

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                Author and article information

                Contributors
                Journal
                Journal of Robotics
                Journal of Robotics
                Hindawi Limited
                1687-9619
                1687-9600
                April 27 2021
                April 27 2021
                : 2021
                : 1-10
                Affiliations
                [1 ]School of Intelligent Manufacturing, Wuhan Technical College of Communications, Wuhan 430065, China
                [2 ]Faculty of Physics and Electronic Science, Hubei University, Wuhan 430062, China
                [3 ]Jiangsu Midea Cleaning Appliance Co., Ltd, Suzhou 215131, China
                Article
                10.1155/2021/5568702
                1fdd9773-c21d-4878-aa4a-5bf2b8ee290d
                © 2021

                https://creativecommons.org/licenses/by/4.0/

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