Inverse Kinematics solution of PUMA 560 robot arm using ANFIS

Abstract

One of the problems in robotics field is, finding the solution of Inverse Kinematics (IK) problem. Traditional methods such as iterative, geometric and algebraic are inadequate if the joint structure of the robot is more complex. As the complexity of manipulator increases, solution of IK is difficult and computationally expensive. In this paper, using the ability of Adaptive Neuro-Fuzzy Inference System (ANFIS) to learn from training data, it is possible to create ANFIS with limited mathematical representation of the system. In the proposed method, forward kinematics relations of robot arm are used to obtain the data for training of ANFIS. Simulation is carried out on a PUMA 560 robot arm to show the effectiveness of the approach.