An ANFIS based system for the LSPB trajectory of a redundant planar manipulator

  • Authors:

  • Vijyant Agarwal;A. P. Mittal

  • Affiliations:

  • Netaji Subhas Institute of Technology, Dwarka, New Delhi, India;Netaji Subhas Institute of Technology, Dwarka, New Delhi, India

  • Venue:
  • MIC'06 Proceedings of the 25th IASTED international conference on Modeling, indentification, and control
  • Year:
  • 2006

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Abstract

A new ANFIS based method for the solution of motion rate resolving for a planar manipulator with maximum manipulability is presented. A comparison is made with the conventional P controller for LSPB (Linear Segment Parabolic Blend) trajectory. The proposed method is simple, fast and physically realizable. Its effectiveness has been demonstrated by computer simulation for a four d.o.f. manipulator.