Inverse Kinematic Analysis of 5-DOF and 7-DOF Redundant Manipulator using ANFIS

Authors

  • Mohit Kumar  M. Tech, Department of Mechanical Engineering, Millennium Institute of Technology, Bhopal, Madhya Pradesh, India
  • B. S. Choudhary  Faculty, Department of Mechanical Engineering, Millennium Institute of Technology, Bhopal, Madhya Pradesh, India

Keywords:

Robots, Redundant Manipulator, ANFIS, inverse kinematics

Abstract

Robots are one of the prominent aspects of current technological advancements. Current research study focuses on conducting Inverse Kinematic Analysis of 5-DOF & 7-DOF Redundant Manipulator using ANFIS. ANFIS stands for Adaptive Neuro-fuzzy Inference system. In this study ANFIS modelling has been performed to solve complex, nonlinear and discontinuous kinematics equation for a complex robot manipulator. It is also desired to find an ANFIS approach that provides a general frame work for combination of NN and fuzzy logic.The difference in joint angle deduced and predicted with ANFIS model for a 5-DOF and 7-DOF Redundant manipulator clearly depicts that the proposed method results with an acceptable error. Predicted (training data) values range from (-0.01 to 0.01) for both 5-DOF & 7- DOF and finding values (testing data) are range from (-0.03 to 0.03) it means the value decrease is about 0.02. The methods used for deriving the inverse kinematics model for these manipulators could be applied to other types of robotic arms, such as the EduBots developed by the Robotica Ltd, Pioneer 2 robotic arm (P2Arm), 5-DOF Lynx 6 Educational Robot arm. It can be concluded that the solution developed in this paper will make the PArm more useful in application with unpredicted trajectory movement in unknown environment.

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IInternational Journal of Scientific Research in Computer Science, Engineering and Information Technology

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Published

2023-04-30

Issue

Volume 9, Issue 2, March-April-2023

Section

Research Articles

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How to Cite

[1]
Mohit Kumar, B. S. Choudhary, " Inverse Kinematic Analysis of 5-DOF and 7-DOF Redundant Manipulator using ANFIS , IInternational Journal of Scientific Research in Computer Science, Engineering and Information Technology(IJSRCSEIT), ISSN : 2456-3307, Volume 9, Issue 2, pp.97-127, March-April-2023.