Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK

Planning and Inverse Kinematics of Hyper-Redundant Manipulators with VO-FABRIK

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 c...

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Bibliographic Details
Main Authors: Morasso, Cristian, Meli, Daniele, Divet, Yann, Sessa, Salvatore, Farinelli, Alessandro
Format: Journal Article
Language:English
Published: 08-03-2024
Subjects:
Computer Science - Robotics
Online Access:Get full text
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Summary: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.
DOI:10.48550/arxiv.2403.05399