Inverse kinematics Solution of PUMA by using ANFIS Technique

Abstract

In this paper Inverse kinematics solution of the PUMA 560 is solved. In robotics the main problem is to find the inverse kinematics solution. Forward kinematics is calculated with the help of D-H (Denavit-Hartenberg) parameter method. Now a day’s inverse kinematics is the area of research in robotics. In present paper, Inverse kinematics is calculated by mathematically and by ANFIS and then difference between the predicted value and deducted value is calculated. Workspace area of PUMA Robot is also shown in this paper.