Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK
Robotics
2024-03-11 v1
Abstract
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.
Keywords
Cite
@article{arxiv.2403.05399,
title = {Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK},
author = {Cristian Morasso and Daniele Meli and Yann Divet and Salvatore Sessa and Alessandro Farinelli},
journal= {arXiv preprint arXiv:2403.05399},
year = {2024}
}
Comments
In publication in Springer Proceedings for the European Robotics Forum 2024