| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 491567 | Procedia Technology | 2015 | 8 Pages |
Abstract
This paper investigates a method for finding a neuro-fuzzy based solution to the inverse kinematics problem of robotic manipulators. For this purpose, the case of a hypothetical 3 degree of freedom (DOF) planar robot is considered, for which computer simulation is performed in order to outline the effectiveness of the approach. By transforming the inverse kinematics problem to a fitting problem, an Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained using the inverse mapping of the data provided by the forward kinematics and learns, with acceptable accuracy, the end-effecter's localization to joint angles mapping.
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