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

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


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, 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.


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