Solution of Inverse Kinematics for SCARA Manipulator Using Adaptive Neuro-Fuzzy Network

Solution of Inverse Kinematics for SCARA Manipulator Using Adaptive Neuro-Fuzzy Network

Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neurofuzzy networks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. The implementation of ANFIS is easy, and the simulation of it shows that it is very fast an...

Intelligent mobile manipulator navigation using adaptive neuro-fuzzy systems

The work presented in this paper deals with the problem of autonomous and intelligent navigation of mobile manipulator, where the unavailability of a complete mathematical model of robot systems and uncertainties of sensor data make the used of approximate reasoning to the design of autonomous motion control very attractive. A modular fuzzy navigation method in changing and dynamic unstructured...

Neuro-Fuzzy based Approach for Inverse Kinematics Solution of Industrial Robot Manipulators

Obtaining the joint variables that result in a desired position of the robot end-effector called as inverse kinematics is one of the most important problems in robot kinematics and control. As the complexity of robot increases, obtaining the inverse kinematics solution requires the solution of non linear equations having transcendental functions are difficult and computationally expensive. In t...

Inverse Kinematics Solution and Verification of 4- DOF Hydraulic Manipulator

Inverse Kinematic Solution of Robot Manipulator Using Hybrid Neural Network

Inverse kinematics of robot manipulator is to determine the joint variables for a given Cartesian position and orientation of an end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Although artificial neural network (ANN) can be gainfully used to yield the desired results but the gra...