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Inverse Kinematics Solution of a Robot Arm based on Adaptive Neuro Fuzzy Interface System

International Journal of Computer Applications
Foundation of Computer Science (FCS), NY, USA
Year of Publication: 2019
Gjorgji Vladimirov, Saso Koceski

Gjorgji Vladimirov and Saso Koceski. Inverse Kinematics Solution of a Robot Arm based on Adaptive Neuro Fuzzy Interface System. International Journal of Computer Applications 178(39):10-14, August 2019. BibTeX

	author = {Gjorgji Vladimirov and Saso Koceski},
	title = {Inverse Kinematics Solution of a Robot Arm based on Adaptive Neuro Fuzzy Interface System},
	journal = {International Journal of Computer Applications},
	issue_date = {August 2019},
	volume = {178},
	number = {39},
	month = {Aug},
	year = {2019},
	issn = {0975-8887},
	pages = {10-14},
	numpages = {5},
	url = {},
	doi = {10.5120/ijca2019919268},
	publisher = {Foundation of Computer Science (FCS), NY, USA},
	address = {New York, USA}


Nowadays, robot arms are used as standalone or intrinsic part of many robot systems in various fields and applications. The design and structure of robot arms varies depending on multiple constraints such as the tasks they have to perform, working environment in which they have to operate, the dimensions of the objects they have to peak, etc. Every robot arm, regardless of its design and structure, is aimed to perform some movement that has to be carefully analyzed and planned. During this process, usually two types of motion are analyzed. The first one aims at finding the position of the end effector when the angles between the robot arm links are known. This problem is usually denoted as direct kinematics. The second one, known as inverse kinematics, aims at solving the opposite problem i.e. to determine the angles between links when the position of the end effector is known. This paper presents an inverse kinematics solution of two degrees of freedom planar robot arm based on Adaptive Neuro Fuzzy Interface System (ANFIS). The proposed model is experimentally evaluated and the obtained results are discussed.


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Robot arm, ANFIS, Robot arm with two joint, Robot arm with two links, inverse kinematics, inverse kinematic on 2 joint robot.