Implementation Of 5 Degree Of Freedom Robotic Arm Manipulator With ANFIS Algorithm

Abstract

Inverse kinematics is difficult in computation and can result in significant delays in real time. For a redundant robot, additional computations are required for the inverse kinematic solution through optimization schemes. Getting inverse kinematics result using equation would be considered under expensive efforts. So this optimization can be done efficiently by fuzzy logic. Based on the fact that exact inverse kinematics cannot be calculated by human, but can do defined positioning from trial and error. The implementation of the projected scheme has established that it is practical for both redundant and non redundant cases, and that it is very computationally efficient. The result provides sufficient precision. This paper discusses (1) the automatic generation of the Fuzzy Inverse Kinematic Mapping (FIKM) from specification of the Denavit-Hartenberg parameters (2)Programming that in microcontroller and implementation on hardware.