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ANFIS-Based Inverse Kinematics and Forward Dynamics of 3 DOF Serial Manipulator

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Hybrid Intelligent Systems (HIS 2020)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 1375))

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Abstract

Study of a serial manipulator involves many non-linear functions and complex sets of equations. The complexity of the problem increases as mobility of the system increases and it becomes a very tedious task to analyse the robotic system especially the inverse kinematics and forward dynamics. This study is aimed to reduce the complexity of analysis by implementing adaptive neuro-fuzzy inference system-based inverse kinematic analysis and forward dynamic analysis. The CAD model of serial manipulators is prepared using SOLIDWORKS to get geometrical and inertial information. The manipulator is also mathematically modelled in MATLAB and its forward kinematics (FK), inverse kinematics (IK), and dynamic analyses are carried out. The ANFIS networks are trained using data generated by a mathematical model, and it is then tested for a new set of data. Finally, the results are validated by comparing with that of the mathematical model.

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Acknowledgement

The authors gratefully acknowledge the financial support of the Ministry of Electronics and Information Technology, Government of India, for carrying out this study.

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Authors and Affiliations

  1. Indian Institute of Technology, Kharagpur, India

    Deepak Deshmukh, Dilip Kumar Pratihar & Alok Kanti Deb

  2. Centre for Development of Advanced Computing, Kolkata, India

    Hena Ray & Alokesh Ghosh

Authors
  1. Deepak Deshmukh
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  2. Dilip Kumar Pratihar
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  3. Alok Kanti Deb
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  4. Hena Ray
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  5. Alokesh Ghosh
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Editor information

Editors and Affiliations

  1. Scientific Network for Innovation and Research Excellence, Machine Intelligence Research Labs (MIR Labs), Auburn, WA, USA

    Ajith Abraham

  2. Institute for Information Systems, University of Applied Sciences and Arts Northwestern Switzerland, Olten, Solothurn, Switzerland

    Thomas Hanne

  3. Division of Graduate Studies, Tijuana Institute of Technology, Tijuana, Mexico

    Oscar Castillo

  4. Scientific Network for Innovation and Research Excellence, Machine Intelligence Research Labs (MIR Labs), Auburn, AL, USA

    Niketa Gandhi

  5. Universidade Federal da Bahia, Salvador, Bahia, Brazil

    Tatiane Nogueira Rios

  6. Computer Science and Information Engineering, National University of Kaohsiung, Kaohsiung, Taiwan

    Tzung-Pei Hong

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Deshmukh, D., Pratihar, D.K., Deb, A.K., Ray, H., Ghosh, A. (2021). ANFIS-Based Inverse Kinematics and Forward Dynamics of 3 DOF Serial Manipulator. In: Abraham, A., Hanne, T., Castillo, O., Gandhi, N., Nogueira Rios, T., Hong, TP. (eds) Hybrid Intelligent Systems. HIS 2020. Advances in Intelligent Systems and Computing, vol 1375. Springer, Cham. https://doi.org/10.1007/978-3-030-73050-5_15

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