Wesam Mohammed Jasim
College of Computer, University of Anbar, Iraq
ABSTRACT
Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neurofuzzy networks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. The implementation of ANFIS is easy, and the simulation of it shows that it is very fast and give acceptable error.
KEYWORDS
Inverse Kinematics, Adaptive Neuro-Fuzzy, SCARA Manipulator.
Original Source URL: http://airccse.org/journal/ijsc/papers/2411ijsc06.pdf
http://airccse.org/journal/ijsc/current2011.html
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