Simulation Analysis for Trajectory Tracking Control of 5-DOFs Robotic Arm using ANFIS Approach

摘要

In this paper, the Scorbot-ER 5 Plus robotic arm is considered to track two different trajectories i.e., straight line and semi-circular one. For the same, the forward kinematic analysis is performed using DH convention. However, due to the unavailability of the closed form, solving the inverse kinematic problem is a quite challenging task. Therefore, in this work, adaptive neuro fuzzy inference system (ANFIS) technique is utilized to find out the inverse kinematic solutions. The recursive Newton-Euler method is employed to carry out the dynamic analysis for the Scorbot-ER 5 Plus. The Proportional-Integral-Derivative (PID) control strategy is implemented in Simulink/MATLAB to ensure the precise tracking of desired trajectories. In the proposed control strategy, the ANFIS based inverse kinematic solutions are exploited as input joint variables for each trajectory. It has been observed from the simulation analysis that ANFIS based PID control shows promising results for required trajectories.