Inverse Kinematics solver using Bezier curve based iterative algorithm with obstacle avoidance ability

Abstract

The inverse kinematics (IK) problem in area of robotics, game and computer graphics is one of the most essential problems. To find the solution, set of joint positions of the articulated model must be calculated so that a specific point of the system can achieve a desired target. Thus, in this paper, the quadratic Bezier curve based iterative algorithm is proposed for IK problem of articulated manipulator. This algorithm doesn’t require rotation of angle or matrix computation, has low computational cost and results in position of joints efficiently with high accuracy, smooth and realistic pose. In this paper, the proposed algorithm is tested over a 6 joints articulated planar system. Due to the nature of Bezier curve, this algorithm has a directional obstacle avoidance ability. For 100 tests, the average convergence time for the tested configurations is about (0.0019 s) and the position error between end-effector and target was around (5.0180e-04 mm).
Keywords— Inverse Kinematics, Bezier curve, articulated manipulator, iterative algorithm