Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem

Table 2

The experiment results of extending FABRIK with obstacle avoidance in test 2.

	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	7	8.6819e-04	0.0880	Figure 4(a)
2	Yes	4	6.1996e-04	0.0898	Figure 4(b)
3	Yes	3	4.2464e-04	0.0853	Figure 4(c)
4	Yes	2	5.1837e-04	0.1160	Figure 4(d)
5	Yes	5	3.0560e-04	0.1012	Figure 4(e)
6	Yes	5	2.5677e-06	0.0984	Figure 4(f)
7	Yes	3	4.9393e-06	0.1119	Figure 4(g)
8	Yes	3	6.0699e-04	0.1326	Figure 4(h)
9	Yes	11	4.6694e-04	0.2120	Figure 4(i)