Title: Inverse kinematic solution of 6-DOF industrial robot using nero-fuzzy technology

Authors: Kshitish Kumar Dash; Bibhuti B. Choudhury; Sukanta K. Senapati

Addresses: Department of Mechanical Engineering, Gandhi Institute for Technology (GIT), Bhubhaneswar, Odisha-752054, India ' Department of Mechanical Engineering, Gandhi Institute for Technology (GIT), Bhubhaneswar, Odisha-752054, India ' Department of Mechanical Engineering, Gandhi Institute for Technology (GIT), Bhubhaneswar, Odisha-752054, India

Abstract: The robot inverse kinematic controller does not give the shut frame arrangement. Henceforth Mechanical controller can accomplish end effectors position in more than one arrangement. To accomplish correct arrangement of the joint angle has been the fundamental worried in the research work. In this paper the analytical solution has been done using D-H method. The method gives 6 DOF industrial robot with D-H Parameter value, which will be the best uses for any inverse kinematics algorithm. Levenberg-Marquardt algorithm is used to solve inverse kinematic of 6-DOF industrial robot arm and the result has been simulated with different soft computing method like ANN and fuzzy logic. A comparison is taken between both the result obtain from different sources.

Keywords: inverse kinematics; ANN; fuzzy logic; industrial robot; forward kinematics; D-H parameters.

DOI: 10.1504/IJCSYSE.2019.103649

International Journal of Computational Systems Engineering, 2019 Vol.5 No.5/6, pp.333 - 341

Received: 28 Jun 2018
Accepted: 07 Dec 2018

Published online: 15 Nov 2019 *

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