Predict the Inverse Kinematic Solution to Manipulate Duplicate Using Anfis

Abstract

The way forward and analysis of inverse kinematics 1 DOF 5 O7- We suggest duplicate DOF handler. Get started and calculate Joint top DOF corners of which the manipulator robot is required is one of the important concerns of Robot control kinematics. When the automated system has more degrees of freedom And it is called (DOF) that required to perform a specific manipulator duplicate task. The Difficulties in the resolution of inverse kinematics (IK) Equations This redundant robot Conflicts arise because it is not uncertain, different and over time the nature of non-linear Equations that have transcendental functions. In this thesis, the capacity of ANFIS (Adaptive Is used Neuro System Fuzzy Inference) to the data that has been created to solve the inverse kinematics Issue. The proposed fuzzy hybrid nervous system that combines learning capabilities Neural networks with diffuse reasoning for the nonlinear system approximation function. and single output Sugeno was modeled from the Islamic Salvation Front type (fuzzy inference) using a split network system In this work. Denavit- Hartenberg (D-H) representation of model and robot links Solution arrays pass from each subscriber. The oriented-and-reverse movement And the kinematics analysis of the DOF 5 and 7 DOF manipulator regularly. ANFIS successfully used to predict SIC of 5 DOF O7-Finance Department Redundant need manipulator in this business. After comparing the output, he concluded that ANFIS expect excellent capacity as this approach provides a general framework for action NN combination of logic and diffuse. ANFIS efficiency may conclude by observing The plot surface, conspiracy and conspiracy remaining regular perspective. This current study in the use of Nonlinear models to predict different indigenous knowledge systems l DOF 5 and 7 duplicate DOF Manipulator will provide a valuable source of information for the authors of the other models.