Inverse Kinematics Solution for a 6-Degree-of-Freedom Robotic Manipulator Based on FABRIK

Authors

  • J. YEM Tunku Abdul Rahman University College
  • T.F. CHAY Tunku Abdul Rahman University College

Abstract


This paper aims to present a novel algorithm to solve the inverse kinematics (IK) problem of a 6 Degree-of-Freedom (DOF) industrial robotic manipulator based on FABRIK (Forward And Backward Reaching Inverse Kinematics). The algorithm calculates and locates the joint position for every joint of the robotic manipulator in Cartesian space to bring the end-effector to the desired target position. Based on the obtained joint positions, the rotational angle for each joint is then calculated to complete the IK solutions. The algorithm is tested for its feasibility and accuracy in MATLAB Robotic Toolbox. The results show that with an average of 13 iterations of computing, the joint positions are obtained with an average error of 0.001256 mm in Cartesian space. The algorithm presented in this paper yields high accuracy with fewer iterations of computing thus offering a new way to solve the IK problem of industrial robotic manipulators.

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Published

2022-01-31

How to Cite

YEM, J., & CHAY, T. (2022). Inverse Kinematics Solution for a 6-Degree-of-Freedom Robotic Manipulator Based on FABRIK. Journal of Engineering and Technology (JET), 12(2), 71–84. Retrieved from https://jet.utem.edu.my/jet/article/view/6228

Issue

Vol. 12 No. 2 (2021): JOURNAL OF ENGINEERING AND TECHNOLOGY

Section

Articles

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