Inverse Kinematics Solution of 3DOF Planar Robot using ANFIS

Abstract: One of the most important problems in robot kinematics and control is, find-ing the solution of Inverse Kinematics. Traditional methods such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is more complex. As the complexity of robot increases, obtaining the inverse kinematics is difficult and computation-ally expensive. In this paper, using the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) to learn from training data, it is possible to create ANFIS with limited mathematical representation of the system. Computer simulations conducted on 2DOF and 3DOF robot manipulator shows the effectiveness of the approach