Research Article
Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem
Figure 1
An example of a full iteration for a manipulator with a single target and four joints. (a) The initial state of the manipulator and the target position. (b) The end effector P4 moved to the target position (T). (c) The middle joint P3’s updated position P30. (d) The updated positions P20 and P10. (e) P10 moved to the initial position P1 (P11 is the updated position of P10). (f) Updated positions P21, P31, and P41.
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