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Performance Evaluation of ANFIS Network in Determination of Inverse Kinematic Equations for a 4DOF Robotic Arm.pdf (1006.11 kB)
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Performance Evaluation of ANFIS Network in Determination of Inverse Kinematic Equations for a 4DOF Robotic Arm

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posted on 22.02.2022, 00:19 by David UdosenDavid Udosen
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.

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Email Address of Submitting Author

davidudosen@gmail.com

ORCID of Submitting Author

https://orcid.org/ 0000-0002-5132-9688

Submitting Author's Institution

Federal University of Technology Akure

Submitting Author's Country

Nigeria

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