Neuro-Fuzzy based Approach for Inverse Kinematics Solution of Industrial Robot Manipulators

Srinivasan Alavandar, M. J. Nigam

Abstract


Obtaining the joint variables that result in a desired position of the robot end-effector called as inverse kinematics is one of the most important problems in robot kinematics and control. As the complexity of robot increases, obtaining the inverse kinematics solution requires the solution of non linear equations having transcendental functions are difficult and computationally expensive. In this paper, using the ability of ANFIS (Adaptive Neuro-Fuzzy Inference System) to learn from training data, it is possible to create ANFIS, an implementation of a representative fuzzy inference system using a BP neural network-like structure, with limited mathematical representation of the system. Computer simulations conducted on 2 DOF and 3DOF robot manipulator shows the effectiveness of the approach.

Keywords


Neuro-Fuzzy, ANFIS, Robot manipulator, Inverse kinematics

Full Text:

PDF

References


J. J. Craig, Introduction to Robotics: Mechanisms and Controls, Addison-Wesley, Reading, MA, 1989.

G. C. S. Lee, Robot Arm Kinematics, Dynamics and Control, Computer, Vol. 15, Issue. 12, pp. 62-79, 1982.
http://dx.doi.org/10.1109/MC.1982.1653917

J. U. Korein, N. I. Balder, Techniques for generating the goal-directed motion of articulated structures, IEEE Computer Graphics and Applications, Vol. 2, Issue. 9, pp. 71-81, 1982.
http://dx.doi.org/10.1109/MCG.1982.1674498

Wang, L. X., Adaptive Fuzzy Systems and Control, Design and Stability Analysis, PTR Prentice Hall, 1994.

Wang, L. X., A Course in Fuzzy Systems and Control, PTR Prentice Hall, 1997.

Takagi T., and M. Sugeno, Fuzzy Identification of Systems and Its Applications to Modeling and Control, IEEE Transactions on Systems, Man, and Cybernetics, Vol. 5, No. 1, pp. 116-132, 1985.
http://dx.doi.org/10.1109/TSMC.1985.6313399

Jang, J. S. R., C. T. Sun, E. Mizutani, Neuro-Fuzzy and Soft Computing, PTR Prentice Hall, 1997.

Nedungadi A, Application of fuzzy logic to solve the robot inverse kinematics problem, Proceeding of 4th World Conference on Robotics Research, Vol. 13, pp. 1-14, 1991.

David W. Howard and Ali Zilouchian, Application of Fuzzy Logic for the Solution of Inverse Kinematics and Hierarchical Controls of Robotic Manipulators, Journal of Intelligent and Robotic Systems, Vol. 23, pp. 217-247, 1998.
http://dx.doi.org/10.1023/A:1007907528825

Sreenivas Tejomurtula, Subhash Kak, Inverse kinematics in robotics using neural networks, Information Sciences, Vol. 116, pp. 147-164, 1999.
http://dx.doi.org/10.1016/S0020-0255(98)10098-1

Yang Ming Lu, Lu Guizhang, Li Jiangeng, An Inverse Kinematics Solution for Manipulators, Proceedings of IEEE, Vol. 4, pp. 400-404, 2001.

Tiberiu Vesselenyi, Simona Dzitac, Ioan Dzitac, Misu-Jan Manolescu, Fuzzy and Neural Controllers for a Pneumatic Actuator, International Journal of Computers, Communications and Control, Vol. 2, No. 4, pp. 375-387, 2007.
http://dx.doi.org/10.15837/ijccc.2007.4.2368

Srinivasan Alavandar, M. J. Nigam, Inverse Kinematics Solution of 3 DOF Planar Robot Using ANFIS, International Journal of Computers, Communications and Control, Supplementary Issue: Proceedings of ICCCC 2008, Vol. 3, pp. 150-155, 2008.

Li-Xin Wei, Hong-Rui Wang, Ying Li, A new solution for inverse kinematics of manipulator based on neural network, Proceedings of the Second International Conference on Machine Learning and Cybernetics, Xian, Vol. 3, No. 5, pp. 1201-1203, 2003.

Rasit Koker, Cemil Oz, Tark Cakar, Huseyin Ekiz, A study of neural network based inverse kinematics solution for a three-joint robot, Robotics and Autonomous Systems, Vol. 49, pp. 227-234, 2004.
http://dx.doi.org/10.1016/j.robot.2004.09.010

J. S. R. Jang, ANFIS: Adaptive-Network-based Fuzzy Inference Systems, IEEE Transactions on Systems, Man, and Cybernetics, Vol. 23, No. 03, pp. 665-685, 1993.
http://dx.doi.org/10.1109/21.256541

H. Sadjadian, H. D. Taghirad, and A. Fatehi, Neural Networks Approaches for Computing the Forward Kinematics of a Redundant Parallel Manipulator, International Journal of Computational Intelligence, Vol. 2, No. 1, pp. 40-47, 2005.




DOI: https://doi.org/10.15837/ijccc.2008.3.2391



Copyright (c) 2017 Srinivasan Alavandar, M. J. Nigam

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.

CC-BY-NC  License for Website User

Articles published in IJCCC user license are protected by copyright.

Users can access, download, copy, translate the IJCCC articles for non-commercial purposes provided that users, but cannot redistribute, display or adapt:

  • Cite the article using an appropriate bibliographic citation: author(s), article title, journal, volume, issue, page numbers, year of publication, DOI, and the link to the definitive published version on IJCCC website;
  • Maintain the integrity of the IJCCC article;
  • Retain the copyright notices and links to these terms and conditions so it is clear to other users what can and what cannot be done with the  article;
  • Ensure that, for any content in the IJCCC article that is identified as belonging to a third party, any re-use complies with the copyright policies of that third party;
  • Any translations must prominently display the statement: "This is an unofficial translation of an article that appeared in IJCCC. Agora University  has not endorsed this translation."

This is a non commercial license where the use of published articles for commercial purposes is forbiden. 

Commercial purposes include: 

  • Copying or downloading IJCCC articles, or linking to such postings, for further redistribution, sale or licensing, for a fee;
  • Copying, downloading or posting by a site or service that incorporates advertising with such content;
  • The inclusion or incorporation of article content in other works or services (other than normal quotations with an appropriate citation) that is then available for sale or licensing, for a fee;
  • Use of IJCCC articles or article content (other than normal quotations with appropriate citation) by for-profit organizations for promotional purposes, whether for a fee or otherwise;
  • Use for the purposes of monetary reward by means of sale, resale, license, loan, transfer or other form of commercial exploitation;

    The licensor cannot revoke these freedoms as long as you follow the license terms.

[End of CC-BY-NC  License for Website User]


INTERNATIONAL JOURNAL OF COMPUTERS COMMUNICATIONS & CONTROL (IJCCC), With Emphasis on the Integration of Three Technologies (C & C & C),  ISSN 1841-9836.

IJCCC was founded in 2006,  at Agora University, by  Ioan DZITAC (Editor-in-Chief),  Florin Gheorghe FILIP (Editor-in-Chief), and  Misu-Jan MANOLESCU (Managing Editor).

Ethics: This journal is a member of, and subscribes to the principles of, the Committee on Publication Ethics (COPE).

Ioan  DZITAC (Editor-in-Chief) at COPE European Seminar, Bruxelles, 2015:

IJCCC is covered/indexed/abstracted in Science Citation Index Expanded (since vol.1(S),  2006); JCR2018: IF=1.585..

IJCCC is indexed in Scopus from 2008 (CiteScore2018 = 1.56):

Nomination by Elsevier for Journal Excellence Award Romania 2015 (SNIP2014 = 1.029): Elsevier/ Scopus

IJCCC was nominated by Elsevier for Journal Excellence Award - "Scopus Awards Romania 2015" (SNIP2014 = 1.029).

IJCCC is in Top 3 of 157 Romanian journals indexed by Scopus (in all fields) and No.1 in Computer Science field by Elsevier/ Scopus.

 

 Impact Factor in JCR2018 (Clarivate Analytics/SCI Expanded/ISI Web of Science): IF=1.585 (Q3). Scopus: CiteScore2018=1.56 (Q2); Editors-in-Chief: Ioan DZITAC & Florin Gheorghe FILIP.