Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem
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 kinemati...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2021/5568702 |
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| _version_ | 1832547035438383104 |
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| author | Songqiao Tao Huajin Tao Yumeng Yang |
| author_facet | Songqiao Tao Huajin Tao Yumeng Yang |
| author_sort | Songqiao Tao |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-bbe51a6f5b9641b08c5faf0d654bf456 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-bbe51a6f5b9641b08c5faf0d654bf4562025-02-03T06:46:16ZengWileyJournal of Robotics1687-96001687-96192021-01-01202110.1155/2021/55687025568702Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics ProblemSongqiao Tao0Huajin Tao1Yumeng Yang2School of Intelligent Manufacturing, Wuhan Technical College of Communications, Wuhan 430065, ChinaFaculty of Physics and Electronic Science, Hubei University, Wuhan 430062, ChinaJiangsu Midea Cleaning Appliance Co., Ltd, Suzhou 215131, ChinaInverse 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.http://dx.doi.org/10.1155/2021/5568702 |
| spellingShingle | Songqiao Tao Huajin Tao Yumeng Yang Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem Journal of Robotics |
| title | Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem |
| title_full | Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem |
| title_fullStr | Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem |
| title_full_unstemmed | Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem |
| title_short | Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem |
| title_sort | extending fabrik with obstacle avoidance for solving the inverse kinematics problem |
| url | http://dx.doi.org/10.1155/2021/5568702 |
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