Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK
arxiv(2024)
摘要
Hyper-redundant Robotic Manipulators (HRMs) offer great dexterity and
flexibility of operation, but solving Inverse Kinematics (IK) is challenging.
In this work, we introduce VO-FABRIK, an algorithm combining Forward and
Backward Reaching Inverse Kinematics (FABRIK) for repeatable deterministic IK
computation, and an approach inspired from velocity obstacles to perform path
planning under collision and joint limits constraints. We show preliminary
results on an industrial HRM with 19 actuated joints. Our algorithm achieves
good performance where a state-of-the-art IK solver fails.
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