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Panchand Jha
National Institute of Technology, Rourkela
Automotive Engineering Electrical & Electronics Engineering

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Inverse Kinematic Solution of 5R Manipulator using ANN and ANFIS Panchand Jha
IAES International Journal of Robotics and Automation (IJRA) Vol 4, No 2: June 2015
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (1051.994 KB) | DOI: 10.11591/ijra.v4i2.pp109-123

Abstract

Inverse kinematics of manipulator comprises the computation required to find the joint angles for a given Cartesian position and orientation of the end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network and adaptive neural fuzzy inference system techniques can be gainfully used to yield the desired results. This paper proposes structured artificial neural network (ANN) model and adaptive neural fuzzy inference system (ANFIS) to find the inverse kinematics solution of robot manipulator. The ANN model used is a multi-layered perceptron Neural Network (MLPNN). Wherein, gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that ANFIS gives better result and minimum error as compared to ANN.
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