Performance Evaluation of ANFIS Network in Determination of Inverse Kinematic Equations for a 4DOF Robotic Arm

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.