FABRIK-R: An Extension Developed Based on FABRIK for Robotics Manipulators
| Autor: | Matheus Cardoso Santos, Elyson Adan Nunes Carvalho, Jose Gilmar Carvalho, Phillipe C. Santos, Lucas Molina, Eduardo Oliveira Freire |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
General Computer Science Computer science inverse kinematics 02 engineering and technology Kinematics FABRIK law.invention Computer Science::Robotics Computer graphics 020901 industrial engineering & automation law 0202 electrical engineering electronic engineering information engineering General Materials Science manipulators ComputingMethodologies_COMPUTERGRAPHICS Robot kinematics Inverse kinematics business.industry General Engineering Robotics Control engineering Solver Robot end effector robots Robot 020201 artificial intelligence & image processing lcsh:Electrical engineering. Electronics. Nuclear engineering Artificial intelligence business lcsh:TK1-9971 |
| Zdroj: | IEEE Access, Vol 9, Pp 53423-53435 (2021) |
| ISSN: | 2169-3536 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
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