I'm too lazy to write anything, because nobody ever reads this anyway. So here is a litle something from chat gpt: (also this is inspired by Sebastian Lague: https://www.youtube.com/watch?v=PGk0rnyTa1U&t=207s at 3:05) FABRIC, which stands for Forward and Backward Reaching Inverse Kinematics, is a mathematical algorithm used in robotics and animation to solve the inverse kinematics problem. Inverse kinematics refers to the process of determining the joint angles or positions required for a robot or character to achieve a desired end effector or target position. Traditional inverse kinematics algorithms typically work in a forward manner, starting from the base of a robot or character and moving towards the end effector. However, FABRIC combines both forward and backward steps to provide a more accurate and efficient solution. The FABRIC algorithm begins by calculating the forward kinematics, which involves determining the position and orientation of each joint in the robot or character's kinematic chain based on the given joint angles. This step is typically achieved using the Denavit-Hartenberg parameters or other transformation matrices. Once the forward kinematics are computed, the algorithm proceeds to the backward reaching phase. In this step, FABRIC starts from the desired end effector position and progressively adjusts the joint angles by iteratively minimizing the error between the calculated and desired positions. By working backward through the kinematic chain, FABRIC ensures that each joint's position is optimized to achieve the desired end effector position. FABRIC's backward reaching approach offers several advantages over traditional forward-only inverse kinematics algorithms. It can handle complex kinematic structures with multiple degrees of freedom more effectively. The algorithm can also handle situations where multiple solutions or singularities exist by evaluating the most suitable solution based on user-defined criteria or constraints. Moreover, FABRIC is known for its efficiency and stability. It converges quickly and can handle real-time applications such as robotics control or interactive animation. Overall, FABRIC is a powerful inverse kinematics algorithm that combines the strengths of forward and backward reaching methods. Its ability to handle complex kinematic structures and provide efficient and accurate solutions makes it a valuable tool in the field of robotics, animation, and motion control.
