Title: Inverse kinematics of 3-DOF robotic manipulator using analytical method, ANFIS method and experiments

Authors: Shiv Manjaree; B.C. Nakra; Vijyant Agarwal

Addresses: Department of Mechanical Engineering, The NorthCap University (Formerly ITM University), Sector 23A, Gurgaon, India ' Department of Mechanical Engineering, IIT Delhi, Hauz Khas, New Delhi, India ' Department of MPAE, NSIT, Sector 3, Dwarka, New Delhi, India

Abstract: Inverse kinematics of industrial robotic manipulators is a very complex task. This paper involves the kinematic analysis of robotic manipulator with industrial importance. Forward kinematic analysis has been performed by analytical method using Denavit-Hartenberg convention. Inverse kinematics solutions have been obtained by geometrical method. A hybrid combination of neural networks and fuzzy logic intelligent techniques using two different membership functions has also been used to perform inverse kinematic analysis. Experimental validation has been attempted on robotic manipulator to trace different desired trajectories. Comparative analysis of joint angle errors using two different membership functions shows the importance of selection of a particular membership function. A comparison drawn on all the applied techniques, namely analytical method, adaptive neuro-fuzzy inference system method with experiments for desired trajectories shows the results for inverse kinematics to be in reasonable agreement with each other.

Keywords: ANFIS; artificial intelligence; degree of freedom; experiment; forward kinematics; inverse kinematics; joint angle error; mathematical modeling; membership function; trajectory.

DOI: 10.1504/IJMRS.2016.10006070

International Journal of Mechanisms and Robotic Systems, 2016 Vol.3 No.4, pp.297 - 316

Received: 28 Mar 2015
Accepted: 17 Mar 2016

Published online: 04 Jul 2017 *

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