Research Article
Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem
Figure 2
Extending FABRIK with obstacle avoidance. (a), (d) The initial state of the manipulator, the target position, and the obstacle. (b), (e) P4 moved to the target position (T) and the optimization found. (c), (f) The basic FABRIK used to find the updated positions and .
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