An Accessible Path Search Method Based on Improved Fabrik for Maintenance Scenarios

Recently, maintainability is elevated to a critical status in design, driven by the complexity of product layouts. How to develop a rapid automated method for determining accessible paths in complex maintenance scenarios has become a current research focus. To solve the problem, this study proposes a path search method based on the improved forward and backward inverse kinematics (FABRIK) algorithm. By analyzing the limitations of the traditional FABRIK algorithm in terms of convergence and obstacle avoidance, an optimization mechanism incorporating a random rotation strategy is designed to effectively solve the problems of local optima and obstacle avoidance. At the same time, a 7 degree of freedom human arm kinematic model was constructed to constrain joint range of motion with ergonomic. The effectiveness of the algorithm was validated in a virtual environment, and the results showed that the method can plan accessible paths that conform to human motion characteristics in a 3D scene with obstacles. This method can provide effective solutions for the maintenance design of complex industrial equipment.