Performance Evaluation of ANFIS Network in Determination of Inverse Kinematic Equations for a 4DOF Robotic Arm.pdf (1006.11 kB)
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The paper evaluates the ability of the Adaptive Neuro-Fuzzy Inference System (ANFIS) Network to develop its own set of inverse kinematics (IK) equations when trained with forward kinematics data. The forward kinematics equation is developed using the Denavit-Hartenberg (D-H) approach while the inverse kinematics equations (which is used to test the ANFIS Network) is developed analytically using geometry. This evaluation is carried out on a four degree of freedom (4DOF) robotic arm.
History
Email Address of Submitting Author
davidudosen@gmail.comORCID of Submitting Author
https://orcid.org/ 0000-0002-5132-9688Submitting Author's Institution
Federal University of Technology AkureSubmitting Author's Country
- Nigeria