Study and Analysis of Inverse Dynamics of 3 DOF Planar Arm Robot by Adaptive Neuro-Fuzzy Inference System

Abstract

The analysis of robotic arms contains nonlinear analysis and consists of experiments related to the actuality of numerous clarifications, individuality topics, and probable severances. There are numerous studies noticed in open access which reflect the inverse kinematic investigation of robotic arms. The most significant problem in arm robot inverse kinematics and mechanism is, analyzing the solution of inverse dynamics. Conventional approaches such as iterative model, geometric, and algebraic are insufficient if the joint structure is more multifaceted. As the difficulty of robot intensifications, finding the inverse dynamics is challenging and computationally costly. In this work, using the facility of an adaptive neuro-fuzzy inference system to study from working out data, it is promising to form an adaptive neuro-fuzzy inference system with a partial mathematical depiction of the system. Computational simulations accompanied by the 3DOF robot arm confirm the usefulness of the method.

The analysis of robotic arms contains nonlinear analysis and consists of experiments related to the actuality of numerous clarifications, individuality topics, and probable severances. There are numerous studies noticed in open access which reflect the inverse kinematic investigation of robotic arms. The most significant problem in arm robot inverse kinematics and mechanism is, analyzing the solution of inverse dynamics. Conventional approaches such as iterative model, geometric, and algebraic are insufficient if the joint structure is more multifaceted. As the difficulty of robot intensifications, finding the inverse dynamics is challenging and computationally costly. In this work, using the facility of an adaptive neuro-fuzzy inference system to study from working out data, it is promising to form an adaptive neuro-fuzzy inference system with a partial mathematical depiction of the system. Computational simulations accompanied by the 3DOF robot arm confirm the usefulness of the method.