IJERT-EMS
IJERT-EMS

ANFIS Implementation for Robotic Arm Manipulator


ANFIS Implementation for Robotic Arm Manipulator
Authors : Gurjeet Singh, Dr. Vijay Kumar Banga
Publication Date: 30-06-2012

Authors

Author(s):  Gurjeet Singh, Dr. Vijay Kumar Banga

Published in:   International Journal of Engineering Research & Technology

License:  This work is licensed under a Creative Commons Attribution 4.0 International License.

Website: www.ijert.org

Volume/Issue:   Vol.1 - Issue 4 (June- 2012)

e-ISSN:   2278-0181

Abstract

The inverse kinematics problem in robotics requires the determination of the joint angles for a desired position of the end-effector. The most important problem in robot kinematics and control is, finding the solution of Inverse Kinematics. If the joint structure of the manipulator is more complex the traditional method such as geometric, iterative and algebraic are inadequate. As the complexity of robot increases, obtaining the inverse kinematics is difficult and computationally expensive. For this under constrained and ill- conditioned problem we propose a solution based on structured neural networks that can be trained quickly. In this paper, using the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) to learn from training data, it is possible to create ANFIS with limited mathematical representation of the system. Computer simulations conducted on 2DOF and 3DOF robot manipulator shows the effectiveness of the approach. Workspace area of 2DOF and 3DOF is also shown .

Citations

Number of Citations for this article:  Data not Available

Keywords

Key Word(s):    

Downloads

Number of Downloads:     2039
Similar-Paper

Call for Papers - May - 2017

        

 

                 Call for Thesis - 2017 

     Publish your Ph.D/Master's Thesis Online

              Publish Ph.D Master Thesis Online as Book