FABRIK 2-DOF Manipulator (SCARA)

Software
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| Matlab 2022b
| Octave 7.3.0

Description

This project focuses on the implementation of the FABRIK (Forward And Backward Reaching Inverse Kinematics) algorithm. The implemented algorithm is an unmodified version of the original publication. It is a simple demonstration of the use of the algorithm on a 2DOF SCARA ABB IRB 910SC manipulator (default).

• IK - FABRIK (Forward And Backward Reaching Inverse Kinematics)
• FK - unmodified D-H (Denavit–Hartenberg) Table
• 2D Plot + Animation
• Plot Workspace Envelope
• Possibility Changing Target in Plot

Within the application, new targets can be set by clicking into the chart. The program will automatically recalculate the result.

❗ The code was also tested in Octave

Run ./main.m script in Matlab Desktop / Cloud or from terminal:

matlab -nosplash -nodesktop -r main

Demo Example

video.mp4

Future Work

Next steps leads to FABRIK-R (modification FABRIK for robotics arm) and add another programming languages.