An Improved Inverse Kinematics Solution for a Robot Arm Trajectory Using Multiple Adaptive Neuro-Fuzzy Inference Systems

Abstract

Inverse kinematics of robots is a critical topic in the robotics field. Although there are conventional ways of solving inverse kinematics, soft computing is an important technology that has lately gained prominence due to its ability to reduce the complexity of the inverse kinematics problem. This paper presents an inverse kinematics solution using multiple adaptive neuro-fuzzy inference systems (MANFIS). Different models were established by employing various methods of identification. Subtractive Clustering (SCM), Fuzzy C-Means Clustering (FCM), and Grid Partitioning (GP) are the three methods used in this study. This work is being carried out on a 5-DOF articulated robot arm, which is commonly used in industry. A mathematical model is built based on the Denavit-Hartenberg (DH) approach. Following confirmation that the kinematic findings of the mathematical model match the actual observed values of the robot arm, two types of data sets are generated: a random data set and a systematic data set based on a trajectory. The data sets are then utilized to train and evaluate ANFIS models and choose the optimal models to develop MANFIS model. Thus, the prediction and experimental data are compared to assess the performance of the MANFIS model.

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“…Fuzzy inference systems are also used in user-based decisionmaking [75]. Robots equipped with fuzzy inference systems can understand human instructions or preferences better than robots that only recognize "right" or "wrong" commands [76]. This allows for more natural and efficient interactions between Journal of Robotics and Control (JRC) ISSN: 2715-5072 136 humans and robots.…”

Utilizing the intelligence edge framework for robotic upper limb rehabilitation in home

“…2.3 ). Readers are advised to refer to [33] and the pseudo code provided here for the details of the construction, training, testing, and validating MANFIS.…”

Retracted: An Improved Inverse Kinematics Solution for a Robot Arm Trajectory Using Multiple Adaptive Neuro-Fuzzy Inference Systems

“…Tis article has been retracted by Hindawi, as publisher, following an investigation undertaken by the publisher [1]. Tis investigation has uncovered evidence of systematic manipulation of the publication and peer-review process.…”