ANFIS Based Solution to the Inverse Kinematics of a 3DOF Planar Manipulator. (2015)

• Record Type: Journal Article
• Authors: Duka, Adrian-Vasile
• Is Part Of: Procedia technology. Volume 19(2015)
• Page Start: 526
• Page End: 533
• Publication Date: 2015
• Subjects: robotic arm -- planar manipulator -- inverse kinematics -- trajectory -- ANFIS; Technology -- Congresses; Technology -- Periodicals; Engineering -- Congresses; Engineering -- Periodicals; Engineering; Technology; Conference proceedings; Periodicals; 605
• DOI: 10.1016/j.protcy.2015.02.075
• Languages: English
• ISSNs: 2212-0173

Abstract

Abstract: This paper investigates a method for finding a neuro-fuzzy based solution to the inverse kinematics problem of robotic manipulators. For this purpose, the case of a hypothetical 3 degree of freedom (DOF) planar robot is considered, for which computer simulation is performed in order to outline the effectiveness of the approach. By transforming the inverse kinematics problem to a fitting problem, an Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained using the inverse mapping of the data provided by the forward kinematics and learns, with acceptable accuracy, the end-effecter's localization to joint angles mapping.