INVERSE KINEMATICS SOLUTION IMPROVEMENT USING A NEURAL FUZZY LOGIC MODEL
Keywords:
fuzzy logic, artificial neural networks, inverse kinematics, manipulators, ANFISAbstract
The aim of this paper is to achieve an enhanced control of multi-joints robots based on the Adaptive Neuro-Fuzzy Inference System (ANFIS). First a database for training and a learning algorithm were proposed. A defined arm workspace was used to build the training database. Then the joints’ angles which enable the end-effector from accessing the desired locations were derived. A six degrees of freedom robotic arm mounted on wheelchairs of the type iARM was adopted which is used to help handicapped people to carry out specific tasks.References
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