Inverse kinematics of 3-DOF robotic manipulator using analytical method, ANFIS method and experiments

Abstract

Inverse kinematics of industrial robotic manipulators is a very complex task. This paper involves the kinematic analysis of robotic manipulator with industrial importance. Forward kinematic analysis has been performed by analytical method using Denavit-Hartenberg convention. Inverse kinematics solutions have been obtained by geometrical method. A hybrid combination of neural networks and fuzzy logic intelligent techniques using two different membership functions has also been used to perform inverse kinematic analysis. Experimental validation has been attempted on robotic manipulator to trace different desired trajectories. Comparative analysis of joint angle errors using two different membership functions shows the importance of selection of a particular membership function. A comparison drawn on all the applied techniques, namely analytical method, adaptive neuro-fuzzy inference system method with experiments for desired trajectories shows the results for inverse kinematics to be in reasonable agreement with each other.