Tracking control for robotic manipulator based on FABRIK algorithm

Abstract

This paper presents a tracking control problem for robotic manipulator based on the FABRIK inverse kinematics technique. The inverse kinematics uses the Kinematics equation to estimate the parameters of each degree of freedom in the manipulator. Recently, a new heuristic iterative approach has been introduced to solve the problem of Inverse Kinematics called FABRIK method. Our controller system combines the features of FABRIK, and the PID controller to achieve as simple, fast, and robust controlling system. The simulation results prove the effectiveness of the proposed technique. A demonstration of the results is included at the end of the paper.