Open AccessInverse kinematics Solution of PUMA by using ANFIS Technique
Author(s) -
Gurjit Singh,
Vijay Kumar Banga
Publication year - 2020
Publication title -
international journal of innovative technology and exploring engineering
Language(s) - English
Resource type - Journals
ISSN - 2278-3075
DOI - 10.35940/ijitee.g5393.059720
Subject(s) - inverse kinematics , kinematics , workspace , robotics , inverse , robot , kinematics equations , forward kinematics , robot kinematics , artificial intelligence , computer science , adaptive neuro fuzzy inference system , mathematics , control theory (sociology) , geometry , physics , mobile robot , fuzzy logic , classical mechanics , fuzzy control system , control (management)
In this paper Inverse kinematics solution of the PUMA 560 is solved. In robotics the main problem is to find the inverse kinematics solution. Forward kinematics is calculated with the help of D-H (Denavit-Hartenberg) parameter method. Now a day’s inverse kinematics is the area of research in robotics. In present paper, Inverse kinematics is calculated by mathematically and by ANFIS and then difference between the predicted value and deducted value is calculated. Workspace area of PUMA Robot is also shown in this paper.