Hyper-redundant Robotic Manipulators (HRMs) offer great dexterity and flexibility of operation, but solving Inverse Kinematics (IK) is challenging. In this work, we introduce VO-FABRIK, an algorithm combining Forward and Backward Reaching Inverse Kinematics (FABRIK) for repeatable deterministic IK computation, and an approach inspired from velocity obstacles to perform path planning under collision and joint limits constraints. We show preliminary results on an industrial HRM with 19 actuated joints. Our algorithm achieves good performance where a state-of-the-art IK solver fails.

翻译：超冗余机械臂（HRMs）具有极高的操作灵活性和适应性，但其运动学逆解（IK）的求解极具挑战性。本文提出VO-FABRIK算法，该算法融合了前向-后向迭代运动学逆解（FABRIK）以实现可重复的确定性运动学逆解计算，并借鉴速度障碍法思想，在碰撞和关节极限约束下完成路径规划。我们在具有19个主动关节的工业级超冗余机械臂上展示了初步实验结果。该算法在现有最优运动学逆解求解器失效的场景下仍能取得优异性能。