Forward And Backward Reaching Inverse Kinematics (FABRIK)

Implementation by Chris Tralie

Original paper by Andreas Aristidou and Joan Lasenby

Directions:

Select points on the arm by left clicking, and right click to remove them. Then select a target, and click the "FABRIK Iteration" button to move the end effector towards the target. You may need to hit this button multiple times to fully reach the target. If the target is unreachable, it will get as close as possible.