ANFIS Based Forward and inverse Kinematics of Robot Manipulator with five Degree of Freedom

  Payal Agnihotri,  Dr.V.K Banga,  Er. Gurjeet Singh

The forward and inverse kinematics of five arm robotics difficult task. Nevertheless now each day many of researchers developed many ways to determine it. In this paper we use anfis algorithm in matlab in order to find forward and inverse kinematics of five arm robot. First in this paper developed D-H parameter, then make programming according to it. Next step choose joint angle first connect to last link and determine its position vector with assistance from forward and inverse kinematics of robot. Next validate the data come from robotics tool box by another tool box of matlab called adaptive neuro fuzzy interference system (ANFIS). First in validation step train the network with hundred position vector and joint angle. Then validate ten points and calculate error by norm command in mat lab between validate data and initial data of robotics

Keywords- Forward kinematics, Inverse kinematics, Robotics, ANFIS, DOF, Denavit-Hartenberg representation

Unique Identification Number - IJEDR1504082
Page Number(s) - 506-511
Pubished in - Volume 3 | Issue 4 | November 2015
DOI (Digital Object Identifier) -   
Publisher - IJEDR (ISSN - 2321-9939)

  Payal Agnihotri,  Dr.V.K Banga,  Er. Gurjeet Singh,   "ANFIS Based Forward and inverse Kinematics of Robot Manipulator with five Degree of Freedom", International Journal of Engineering Development and Research (IJEDR), ISSN:2321-9939, Volume.3, Issue 4, pp.506-511, November 2015, Available at :http://www.ijedr.org/papers/IJEDR1504082.pdf