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

Abstract

ABSTRAT Solution of inverse kinematic equations is complex problem, the complexity comes from the nonlinearity of joint space and Cartesian space mapping and having multiple solution. In this work, four adaptive neuro-fuzzy networks ANFIS are implemented to solve the inverse kinematics of 4-DOF SCARA manipulator. The implementation of ANFIS is easy, and the simulation of it shows that it is very fast and give acceptable error.