Collision-free motion planning of a virtual arm based on the FABRIK algorithm. Issue 6 (18th April 2016)

• Record Type: Journal Article
• Authors: Tao, Songqiao; Yang, Yumeng
• Is Part Of: Robotica. Volume 35:Issue 6(2017)
• Page Start: 1431
• Page End: 1450
• Publication Date: 2016-04-18
• Subjects: Collision-free, -- Motion planning, -- Inverse kinematics, -- Obstacle avoidance, -- Virtual arm; Robots -- Periodicals; 629.89205
• DOI: 10.1017/S0263574716000205
• Languages: English
• ISSNs: 0263-5747

Abstract

SUMMARY: Collision-free motion planning of a virtual arm is an intractable task in high-interference environments. In this paper, an approach for collision-free motion planning of a virtual arm based on the forward and backward reaching inverse kinematics (FABRIK) algorithm is proposed. First, a random rotation strategy and local optimum-seeking technology are introduced to improve the FABRIK algorithm in order to avoid obstacles. The improvement FABRIK algorithm is used to design the final grasping posture of a virtual arm according the target position. Then, a bidirectional rapidly exploring random tree (Bi-RRT) algorithm is adopted to explore the process postures from a given initial posture to the final grasping posture. Different from the existing method, the proposed Bi-RRT algorithm in this paper plans the motions of a virtual arm in a seven-dimensional angle space, and the final grasping posture is automatically designed using the obstacle-avoidance FABRIK algorithm instead of the manual design. Finally, the post-processing technique is introduced to remove redundant nodes from the planned motions. This procedure has resolved the problem that the Bi-RRT algorithm is a random algorithm. The experimental results show the proposed method for collision-free motion planning of a virtual arm is feasible.