Research Article
Extending FABRIK with Obstacle Avoidance for Solving the Inverse Kinematics Problem
Table 3
The experiment results of extending FABRIK with obstacle avoidance in test 3.
| ā | 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 | 3 | 4.9565e-04 | 0.0748 | Figure 5(a) | 2 | Yes | 2 | 3.7932e-05 | 0.0826 | Figure 5(b) | 3 | Yes | 2 | 1.0127e-05 | 0.0917 | Figure 5(c) | 4 | Yes | 1 | 5.0544e-04 | 0.0884 | Figure 5(d) | 5 | Yes | 2 | 3.1292e-05 | 0.0918 | Figure 5(e) | 6 | Yes | 2 | 2.7737e-04 | 0.0922 | Figure 5(f) | 7 | Yes | 4 | 5.5242e-04 | 0.1394 | Figure 5(g) | 8 | Yes | 6 | 2.7428e-05 | 0.1448 | Figure 5(h) | 9 | Yes | 3 | 3.7580e-05 | 0.1350 | Figure 5(i) |
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