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| An Improved Approach of Inverse Kinematics Solution for Robotics Arm with Five Degree of Freedom Using ANFIS |
W. W. Marzouk, Adel A. Elbaset, A.I.A. Galal, Amr Emad
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Abstract:
the FK (forward kinematics) and IK (inverse kinematics) of robotics is very difficult, as result to the occurrence of uncertain, non-linear formulations and having multiple solutions. Many conventional methods are insufficient to find the solution. Therefor it is required to use easy and accurate way for the calculation of IK of robotics. This work shows ANFIS (Adaptive Neuro Fuzzy Inference System) architecture to optimize the IK solution. The designed (ANFIS) model has specified the correct coordinates in line with the certain angles of Cartesian coordinate. The object form the work is the employ of the (ANFIS) to discussion the advantage of the robot system instead of to give direct robotics arm system. This method causes a lowering in the difficulty and calculations faced when using the traditional methods in robotics arm. It shows a reasonably very good suitable for ?2 and other values. The average total error for the training data are found to be 2.8004* 10-5, 4.19*10-6, 3.31*10-5, 3.72*10-5, and 7.33*10-6 for the joint coordinates ?1, ?2, ?3, ?4, and ?5, respectively.
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