Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

Table 1

The experiment results of extending FABRIK with obstacle avoidance in test 1.

	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	77	9.8638e-04	0.2659	Figure 3(a)
2	Yes	55	9.8044e-04	0.2206	Figure 3(b)
3	Yes	9	8.5390e-04	0.1097	Figure 3(c)
4	Yes	30	8.7228e-04	0.2102	Figure 3(d)
5	Yes	10	9.2472e-04	0.1272	Figure 3(e)
6	Yes	23	8.5583e-04	0.1408	Figure 3(f)
7	No	100	0.1195	0.8193	Figure 3(g)
8	No	100	0.3136	0.9215	Figure 3(h)
9	No	100	0.2938	1.1800	Figure 3(i)