FABRIK-R: An Extension Developed Based on FABRIK for Robotics Manipulators

Matheus C Santos,Elyson A N Carvalho,Eduardo O Freire,Jose G N Carvalho,Lucas Molina,Phillipe C Santos

doi:10.1109/access.2021.3070693

Matheus C Santos, Elyson A N Carvalho + Show 4 more

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https://doi.org/10.1109/access.2021.3070693

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Abstract

This paper develops on the process of inverse kinematics (IK) for manipulator robots based on a recent technique from the computer graphics area that has been highlighted by its simplicity and low computational cost. This IK solver is known as Forward And Backward Reaching Inverse Kinematics (FABRIK) suffers from singularities when applied in kinematic chains composed of one degree of freedom (1-DOF) joints. Some extensions of this method have been proposed to incorporate the constraints in some of the most common joints, however, their application over kinematic chains with only 1-DOF joints is still not possible. Since several manipulators have kinematic chains composed of 1-DOF joints, this work presents a new method, named FABRIK-R, to extend the original method for applications in the robotics manipulators field.

Highlights

Since the twentieth century, robots are no longer just the idea of science fiction movie writers
These results show that the proposed method in this paper reaches a solution, when possible, for the inverse kinematic (IK) problem applied to a kinematic chain composed of only 1-DOF joints maintaining the main advantages of the algorithm of Forward And Backward Reaching Inverse Kinematics (FABRIK)
This paper presents a new approach for inverse kinematics of manipulators robots based on FABRIK in order to deal with the most commom kinematic chain manipulator robots that is a chain with joints of only 1-DOF

Summary

Introduction

Robots are no longer just the idea of science fiction movie writers. They have become the focus of research studies, part of industrial processes, and even used in human surgery [1]. A manipulator robot can be as precise and accurate as human operators, associating speed and smoothness to its movements [3] Due to these characteristics, the realistic and plausible movement of bodies has long been a problem for scholars in many fields, including robotics and computer graphics. The realistic and plausible movement of bodies has long been a problem for scholars in many fields, including robotics and computer graphics This problem has been solved by inverse kinematic (IK) methods aimed at animating or controlling different virtual creatures [4]

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