Inverse kinematic solution of 6-DOF industrial robot using nero-fuzzy technology

摘要

The robot inverse kinematic controller does not give the shut frame arrangement. Henceforth Mechanical controller can accomplish end effectors position in more than one arrangement. To accomplish correct arrangement of the joint angle has been the fundamental worried in the research work. In this paper the analytical solution has been done using D-H method. The method gives 6 DOF industrial robot with D-H Parameter value, which will be the best uses for any inverse kinematics algorithm. Levenberg-Marquardt algorithm is used to solve inverse kinematic of 6-DOF industrial robot arm and the result has been simulated with different soft computing method like ANN and fuzzy logic. A comparison is taken between both the result obtain from different sources.