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Solution of Inverse Kinematics for SCARA Manipulator Using Adaptive Neuro-Fuzzy Network

Author(s): Wesam Mohammed Jasim

Journal: International Journal on Soft Computing
ISSN 2229-7103

Volume: 2;
Issue: 4;
Start page: 59;
Date: 2011;
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Keywords: Inverse Kinematics | Adaptive Neuro-Fuzzy | SCARA Manipulator.

Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity ofjoint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neurofuzzynetworks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. Theimplementation of ANFIS is easy, and the simulation of it shows that it is very fast and give acceptableerror.
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