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  A Comparative Study of Prediction of Inverse Kinematics Solution of 2-DOF, 3-DOF and 5-DOF Redundant Manipulators by ANFIS  
  Authors : Layatitdev Das; Jajneswar Nanda; S. S. Mahapatra
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In this paper, a method for solving forward and inverse kinematics of redundant manipulator is proposed. Obtaining the joint variables of these manipulators from a desired position of the robot end-effector called as inverse kinematics (IK), is one of the most important problems in robot kinematics and control. The difficulties in solving the IK equations of these redundant robot manipulator arises due to the presence of uncertain, time varying and non-linear equations having transcendental functions. The ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) is used in this paper, to predict the IKs solution of this manipulator. A single-output Sugenotype FIS (Fuzzy Inference System) using grid partitioning has been modelled in this work. The Denavit-Harbenterg (D-H) notation is used to model robot links and solve the transformation matrices of each joint. The forward kinematics and inverse kinematics for a 2-DOF, 3-DOF and 5-DOF robot manipulator are analysed symmetrically to shows the effectiveness of this approach. The Efficiency of ANFIS can be concluded by observing the surface plot, residual plot and normal probability plot of generated data.

 

Published In : IJCSN Journal Volume 3, Issue 5

Date of Publication : October 2014

Pages : 304 - 308

Figures : 11

Tables : --

Publication Link : A Comparative Study of Prediction of Inverse Kinematics Solution of 2-DOF, 3-DOF and 5-DOF Redundant Manipulators by ANFIS

 

 

 

Mr. Layatitdev Das : received his B.Tech degree from C.E.T Bhubaneswar in 2008. M.Tech degree from N.I.T Rourkela in 2012. Currently he joined ITER, S’o’A University, Bhubaneswar as Asst. Prof. in Mechanical engineering department.

Mr. Jajneswar Nanda : is pursuing his PhD at ITER, S’o’A University, Bhubaneswar. He has broad area of research in the field of vibration, crack location in various shafts.

Siba Sankar Mohapatra : is an eminent faculty in dept. of Mechanical engineering, N.I.T. Rourkela. He has broad area of research in the field of Multi-criteria Decision-Making, Quality Engineering, Assembly Line Balancing, Group Technology, Neural Networks, Non-traditional Optimization, & Simulation.

 

 

 

 

 

 

 

2-DOF

3-DOF and 5-DOF Robot Manipulator

Inverse kinematics

ANFIS

Denavit Harbenterg (D-H) notation

In this study, the inverse kinematics solution using ANFIS for a 2-DOF, 3-DOF and 5-DOF redundant manipulator is presented. The difference in joint angle deduced and predicted with ANFIS model for The difference in joint angle deduced and predicted with ANFIS model for a 2-DOF, 3-DOF and 5-DOF Redundant manipulator clearly depicts that the proposed method results with an acceptable error.

 

 

 

 

 

 

 

 

 

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