ANFIS Based-Kinematic Modeling of 2R Robotic Arm

Robotics have become very useful and meaningful in industrial automation, so their designing and controlling are much considered factor. Robots, as a complicated system, must detect and able to solve the required problem with great perfection and accuracy. To be able to solve the required task robot must have to work with good certainty and it must be flawless in nature. This Analysis shows the robot arm trajectory planning which wm be solved by using Forward and Inverse Kinematics Principles with using ANFIS networks. Providing solution to the IK problem is very useful step as it will decide the location of the gripper where the required task wm be performed. To solve FK and IK problem MATLAB was used and the result are compared of both analytical approach and with ANFIS approach. Adaptive Network based fuzzy inference system (ANFIS), which is a mix of both NN and Fuzzy logic ANFIS was used to the train the data provided by the FK problem, to give more certainty and fidelity to the requiredjoint angles mapping for the 2 degree of freedom robotic arm.