ANFIS Based Forward and inverse Kinematics of Six Arm Robot Manipulator with Six Degree of Freedom

  IJCOT-book-cover
 
International Journal of Computer & Organization Trends  (IJCOT)          
 
© 2015 by IJCOT Journal
Volume - 5 Issue - 2
Year of Publication : 2015
AuthorsEr. Harpreet Singh, Dr. Naveen Dhillon, Er. Kailash Rawat
  10.14445/22492593/IJCOT-V19P305

MLA

Er. Harpreet Singh, Dr. Naveen Dhillon, Er. Kailash Rawat"ANFIS Based Forward and inverse Kinematics of Six Arm Robot Manipulator with Six Degree of Freedom", International Journal of Computer & organization Trends (IJCOT), V5(2):49-54 Mar - Apr 2015, ISSN:2249-2593, www.ijcotjournal.org. Published by Seventh Sense Research Group.

Abstract - The forward and inverse kinematics of six arm robot is difficult task. But now a day many of researchers developed many ways to determine it. In this paper we use robotics tool box in mat lab in order to find forward and inverse kinematics of six arm robot. First in this paper developed D-H parameter, then make programming according to it. Next step choose joint angle first link to last link and determine its position vector with the help of forward and inverse kinematics of robot. After that validate the data come from robotics tool box by another tool box of matlab called adaptive neuro fuzzy interference system (ANFIS). First in validation step train the network with hundred position vector and joint angle. Then validate ten points and calculate error by norm command in mat lab between validate data and initial data of robotics.

References-

[1] Serdar Kucuk and Zafer Bingul Forward and Inverse Kinematics December 2006.
[2] Joan Q Gan, Eimei Oyama, Eric M Rosales & Huoheng hu a complete analytical solution to the inverse kinematics of the pioneer 2 robotic arm Cambridge journals 7 may 2004.
[3] Srinivasan Alavandar, M.J. Nigam Nero fuzzy based approach for inverse kinematics solution of industrial robot manipulator Int. J. of Computers, Communications & Control, ISSN 1841-9836, E-ISSN 1841-9844 Vol. III (2008), No. 3, pp. 224-234 in 2008.
[4] LORENZO SCIAVICCO & BRUNO SCILIANO a solution algorithm to the inverse kinematics problem for redundant manipulator IEEE Journal of Robotics and Automation, Vol. 4 no.4 august 1998.
[5] Li – Chun Tommy Wang & Chi Cheng Chen a combined optimization method for solving the inverse kinematics problem for mechanical manipulator IEEE Transaction on Robotics and Automation Vol. 7 No. 4 august 1991.
[6] Kesheng Wang Efficient inverse position transformation for TR400S robot manipulator Modeling identification and Control,1989,Vol.10 No. 2 101-113 9 feb. 1989.
[7] Ziauddin ahmad & Allon Guez On the solution of inverse kinematics problem IEEE 1990.
[8] Andeas Aristidou & joan Lasenby FABRIC:- A fast iterative solver for the inverse kinematic problem ELSEVIER 9 may 2011.
[9] Jianxin XU, Wei Wang & Yuanguang SUN two optimization algorithms for solving inverse kinematics with redundancy South China University of Technology and Academy of Mathematics and Systems Science, CAS and Springer-Verlag Berlin Heidelberg 2010.
[10] J.M. Fuzzy logic system for engineering: A tutorial, Proceeding, IEEE. 83(3). (1995): pp. Mendel 345-377
[11] Ke L., Hong-ge M., Hai-jing Z. Application of Adaptive Neuro-Fuzzy Inference System to Forecast of Microwave Effect, IEEE Conference Publications, (2009) , pp. 1- 3.
[12] B Purmus, H. Temurtas & A. Gan An inverse kinematics solution using practical swarm optimization 6th International Advanced Technologies Symposium (IATS’11), 16-18 May 2011, Elazığ, Turkey.
[13] Alavandar S. and Nigam M. J. Adaptive Neuro-Fuzzy Inference System based control of six DOF robot manipulator, Journal of Engineering Science and Technology Review,1 (2008): pp.106- 111
[14] Ali T hasan & M.A.A.Al Assadi Performance prediction network for serial manipulator inverse kinematics solution passing through singular configuration Advanced Robotics System International 2010.
[15] Adrew A. Goldenberg, B. Benhabib, & Robert G. Fenton a Complete Generalized Solution to the Inverse Kinematics of Robots IEEE JOURNAL OF ROBOTICS AND AUTOMATION, VOL. RA-1, NO. 1, march 1985.
[16] Himanshu Chaudhary and Rajendra Prasad Intelegent Inverse kinematics control of scorbot- ER plus robot manipulator International Journal of Advances in Engineering & Technology, Nov 2011.
[17] Mustafa Jabbar Hayawi analytical inverse kinematics algorithm Of A 5-DOF robot arm Journal of education of college no.4 vol.1 march./2011.
[18] S. V. Shah ,S.K Saha, J.K Dutt Denavit-Hartenberg Parameterization of Euler Angles Journal of Computational and Nonlinear Dynamics 2012.
[19] Harvey Lipkin a note on D-H notation on robotics ASME 2005.
[20] Dr. Anurg Verma1, Mehul Gor2 forward and inverse kinematics of 6DOF arc welding robot International Journal of Engineering Science and Technology Vol. 2(9), 2010, 4682-4686.
[21] Ibrahim A.M.2004 ―Fuzzy Logic for embedded System application,‖ISBN0-7506- 7699 Xcopyright by ELSEIVER.
[22] Tadeusz szkodny Forward and inverse kinematics of IRb-6 manipulator Pergamon 1995.

Keywords-
Forward kinematics, Inverse kinematics, Neural network, Robotics, ANFIS, DOF.