Using Multiple Adaptive Neuro-Fuzzy Inference System to Solve Inverse Kinematics of SCARA Robot

Abstract

Inverse kinematics is obtaining the joint variables from the end-effector's position and orientation. solving inverse kinematics considers a complex problem because of nonlinearity equations. Selective compliance Articulated Robot Arm (SCARA) robot is characterized by high flexibility, especially in handling and assembly applications. In this work, Multiple Adaptive Neuro-Fuzzy Inference System (MANFIS) will be used to solve inverse kinematics of Scara robot by training the system using data which was collected by modeling the robot using Matlab, and then, the results will be discussed to validate the model.