Inverse kinematics algorithm in dual quaternion form based on FABRIK (Forward and Backward Reach Inverse Kinematics) algorithm

Abstract

This article examines a formulation method for solving the Inverse Kinematics problem of serial robot manipulators in Dual Quaternion (DQ) form. The formulation is based on Forward and Backward Reaching Inverse Kinematics (FABRIK) algorithm. Inverse Kinematics (IK). It consists of searching possible and feasible joints motions to reach a desired position and orientation as smoothly, rapidly and as accurately as possible. The FABRIK algorithm is a current solution used in computer graphics. The FABRIK algorithm reposition each joint one at a time in a forward and backward iterative mode. However, the algorithm alone is not suitable for robot manipulators as it does not consider the joint direction of rotation and orientation. This article also describes an Inverse Kinematics algorithm in dual quaternion form based on the existing FABRIK algorithm and compares it with other heuristic methods. The proposed algorithm uses the dual quaternion advantages fully defining the orientation and position in a single form with 8 components. Besides, the proposed algorithm does not use any trigonometry function unlike other traditional methods. Finally, different models were tested with the algorithm parameters ranging from 2 degrees of freedom (DOF) to 6 DOF and the results are presented here.