Inverse kinematics Solution of PUMA by using ANFIS Technique
Gurjeet Singh1, V. K. Banga2
1Gurjeet Singh*, Research Scholar I.KG Punjab Technical University, Pursuing P. HD in Electronics and Communication Engineering, Punjab, India.
2Dr. Vijay Kumar Banga, Working as Principal and Professor of the Department of Electronics & Communication Engineering, Amritsar College of Engineering and Technology, Amritsar, Punjab, India Manuscript received on April 20, 2020. | Revised Manuscript received on April 30, 2020. | Manuscript published on May 10, 2020. | PP: 847-850 | Volume-9 Issue-7, May 2020. | Retrieval Number: G5393059720/2020©BEIESP | DOI: 10.35940/ijitee.G5393.059720
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Abstract: In this paper Inverse kinematics solution of the PUMA 560 is solved. In robotics the main problem is to find the inverse kinematics solution. Forward kinematics is calculated with the help of D-H (Denavit- Hartenberg) parameter method. Now a day’s inverse kinematics is the area of research in robotics. In present paper, Inverse kinematics is calculated by mathematically and by ANFIS and then difference between the predicted value and deducted value is calculated. Workspace area of PUMA Robot is also shown in this paper.
Keywords: ANFIS, kinematics, Robotics arm, optimization, Robot manipulator, Neural networks, Fuzzy logic.
Scope of the Article: Fuzzy logics