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Register a new userDeveloping of ANFIS base inverse kinematics solution using orientation angle
تطوير حل مسألة الحركة المجردة العكسية المعتمد على تقنية نظام الاستدلال العائم المتكيّف عصبونيا باستخدام زاوية الاتجاه
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إن عملية التحكم بالأذرع الروبوتية تشتمل على العديد من التحديات الهندسية انطلاقاً من مرحلة التصميم الميكانيكي إلى مرحلة البرمجة. تعد مسألة الحركة المجردة العكسية واحدة من أكثر تلك التحديات صعوبة, حيث أنها تتطلب تحديد زوايا المفاصل لإيصال النهاية المؤثرة إلى موقع محدد, و تنبع صعوبة هذه المسألة من لا خطيّتها و امكانية تعدد الحمول أو عدم وجودها في بعض الأحيان. اقترحت العديد من الحمول لحل مسألة الحركة المجردة العكسية منها التحليلية و منها العددية بالإضافة إلى الحمول المعتمدة على الذكاء الصناعي. في هذا البحث تم مناقشة حل مسألة الحركة المجردة العكسية باستخدام نظام الاستدلال العائم المتكيّف عصبونياً و اقترحت بعض التعديلات و تم بيان مدى جدواها.
The robotic manipulator's control process involves many engineering challenges from mechanical design phase to the phase of programming. The inverse kinematics problem is one of the most difficult challenges, as it requires determining the angles of joints for a desired position of the end-effector, the difficulty of this problem comes from the none linearity and the possibility of multiple solutions or lack of solutions in some cases. Many solutions were proposed to solve the issue of inverse kinematics; analytically and numerically in addition to the solutions which based on artificial intelligence. In this research the solution of inverse kinematics using Adaptive Neuro-Fuzzy Inference System was discussed and amendments were proposed and indicated their usefulness.
References used
Alavandar, S, Nigam, M. J 2008 – Neuro-Fuzzy based Approach for Inverse Kinematics Solution of Industrial Robot Manipulators . Int. J. of Computers, Communications & Control,Vol. III, No. 3, pp. 224-234
Ankarali, A – ANFIS Inverse Kinematics and Precise Trajectory Tracking of a Dual Arm Robot . The scientific and Technological Research Council of Turkey
Bonissone, P. P 2002 – Adaptive Neural Fuzzy Inference Systems (ANFIS):Analysis and Applications , a presentation
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