Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

Table 3

The experiment results of extending FABRIK with obstacle avoidance in test 3.

	Whether the target is within reach or not?	The number of iterations	The distance between the target position and the end effector (mm)	Run time (s)	The results
1	Yes	3	4.9565e-04	0.0748	Figure 5(a)
2	Yes	2	3.7932e-05	0.0826	Figure 5(b)
3	Yes	2	1.0127e-05	0.0917	Figure 5(c)
4	Yes	1	5.0544e-04	0.0884	Figure 5(d)
5	Yes	2	3.1292e-05	0.0918	Figure 5(e)
6	Yes	2	2.7737e-04	0.0922	Figure 5(f)
7	Yes	4	5.5242e-04	0.1394	Figure 5(g)
8	Yes	6	2.7428e-05	0.1448	Figure 5(h)
9	Yes	3	3.7580e-05	0.1350	Figure 5(i)