ANFIS Based Solution to the Inverse Kinematics of a 3DOF Planar Manipulator

Duka, Adrian-Vasile

doi:10.1016/j.protcy.2015.02.075

Cited by 29 publications

(11 citation statements)

References 14 publications

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“…With the rapid development of information technology, soft computing techniques (SCTs) are used to solve many problems in engineering such as geological industry [22,23], construction [24], mobile robot [25], and industrial robot [26,27]. Here, the ANFIS structure is one of the useful algorithms of SCT usually used to calculate the kinematics and trajectory planning of the robot.…”

Section: Anfismentioning

confidence: 99%

Analysis and Evaluation of CDPR Cable Sagging Based on ANFIS

Tho

Thinh

2021

Mathematical Problems in Engineering

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The cable sagging problem of cable-driven parallel robots (CDPRs) is very complicated, because several models for calculating cable sag based on the well-known catenary equation have been studied, but time and computational efficiency are a problem to be solved. There is still no simple mathematical model to calculate cable sag by considering all relevant conditions due to the complexity and nonlinearity of the cable sagging model, which involves many dominant variables and their influence on the position accuracy of CDPRs. In this study, we proposed an ANFIS (adaptive neuro-fuzzy inference system) architecture to estimate cable sag for large-sized CDPRs. The ANFIS model can be used to solve nonlinear functions and detect nonlinear factors online in the control system; this characteristic is consistent with the nonlinear model of cable sag. The trained data for ANFIS models were taken from calculation results by Trust-Region-Dogleg algorithm based on two cable tension calculation algorithms as Dual Simplex Algorithm and Force Distribution in Closed Form. Cable sagging data obtained from ANFIS and Trust-Region-Dogleg algorithm are compared and evaluated by statistical factors of evaluations consisting of root-mean-square error, correlation coefficients, and scatter index. The analytical results show that the ANFIS gave computed results with small errors and can be applied to predict cable sagging for any CDPR configuration, with the advantage of fast calculation time and high precision. The results of these models are also applied on a CDPR that contains two redundant actuators.

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Section: Anfismentioning

confidence: 99%

Analysis and Evaluation of CDPR Cable Sagging Based on ANFIS

Tho

Thinh

2021

Mathematical Problems in Engineering

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“…This technique, which bases on soft-computing, is a better choice for real-time control application due to efficient computing characteristic. There are some previous applications of ANFIS applied for inverse kinematics problems, for instances, ANFIS approach has been successfully applied for 3DOF planar manipulator in [9] with under 10% error and 3DOF SCARA manipulator(two revolute joints and a prismatic joint) [10]. For our arm model, we build an appropriate ANFIS model that applies for 4DOF human-like arm in 3-dimension spherical coordinates.…”

Section: Constraintsmentioning

confidence: 99%

Manipulation-based skills for anthropomorphic human-arm system based on integrated ANFIS and vector calculus

2020

Preprint

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In this paper, we focus on developing our new approaches to solve Inverse Kinematics using Vector Calculus and integrating the ANFIS module. Specifically, these approaches are evaluated in term of accuracy and performance on the 5-DOF robotic arm model inspired by the human arm structure. Evaluation for our new approaches are described detail in this paper and therefore shows the efficiency and robustness of our methods and potentially leads a new research direction in modeling kinematics of anthropomorphic robotic arm.

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“…Moreover, in order to achieve gripper's smooth motion, artificial intelligence (AI) is applied to utilize the input from the attached sensors at a robot's system. The commonly used AI is the fuzzy logic controller (FLC) [22][23][24][25] and the neural network (NN) [26][27][28]. Many kinds of research have applied inverse kinematics to generate a robot trajectory.…”

Section: Introductiomentioning

confidence: 99%

Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller

Dewi

Nurmaini

Risma

et al. 2020

IJECE

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The arm robot manipulator is suitable for substituting humans working in tomato plantation to ensure tomatoes are handled efficiently. The best design for this robot is four links with robust flexibility in x, y, and z-coordinates axis. Inverse kinematics and fuzzy logic controller (FLC) application are for precise and smooth motion. Inverse kinematics designs the most efficient position and motion of the arm robot by adjusting mechanical parameters. The FLC utilizes data input from the sensors to set the right position and motion of the end-effector. The predicted parameters are compared with experimental results to show the effectiveness of the proposed design and method. The position errors (in x, y, and z-axis) are 0.1%, 0.1%, and 0.04%. The rotation errors of each robot links (θ1, θ2, and θ3) are 0%, 0.7% and 0.3%. The FLC provides the suitable angle of the servo motor (θ4) responsible in gripper motion, and the experimental results correspond to FLC’s rules-based as the input to the gripper motion system. This setup is essential to avoid excessive force or miss-placed position that can damage tomatoes. The arm robot manipulator discussed in this study is a pick and place robot to move the harvested tomatoes to a packing system.

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ANFIS Based Solution to the Inverse Kinematics of a 3DOF Planar Manipulator

Cited by 29 publications

References 14 publications

Analysis and Evaluation of CDPR Cable Sagging Based on ANFIS

Analysis and Evaluation of CDPR Cable Sagging Based on ANFIS

Manipulation-based skills for anthropomorphic human-arm system based on integrated ANFIS and vector calculus

Inverse kinematic analysis of 4 DOF pick and place arm robot manipulator using fuzzy logic controller

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