Prediction of inverse kinematics of a 5-DOF pioneer robotic arm having 6-DOF end-effector using ANFIS

摘要

In this paper, a method for forward and inverse kinematics analysis of a 5-DOF pioneer robotic arm (PArm) having 6-DOF end-effector is proposed. Obtaining the trajectory and computing the required joint angles for a higher DOF robot manipulator is one of the important concerns in robot kinematics and control. The difficulties in solving the inverse kinematics equations of higher DOF robot manipulator arises due to the presence of uncertain, time varying and nonlinear nature of equations having transcendental functions. In this paper, the ability of adaptive neuro-fuzzy inference system (ANFIS) is used to the generated data for solving inverse kinematics problem. The proposed hybrid neuro-fuzzy system combines the learning capabilities of neural networks with fuzzy inference system for nonlinear function approximation. A single-output Sugeno-type fuzzy inference system (FIS) using grid partitioning has been modelled in this work. The Denavit-Hartenberg (D-H) representation is used to model robot links and solve the transformation matrices of each joint. The forward kinematics and inverse kinematics for a 5-DOF manipulator are analysed systemically.