Furtherm ore, the capability of these r obots to perform tedious, repetitive, and dangerous tasks in place of the human is another i mpelling factor for their rapid growth in several fi elds.For further infórmation, including about cookié settings, please réad our Cookie PoIicy.By continuing tó use this sité, you consent tó the use óf cookies.
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Robotics And Control Mittal And Nagrath Download Citation ShareAccept Cookies tóp See all 32 References See all 1 Figures Download citation Share Facebook Twitter LinkedIn Reddit Download full-text PDF Simulation Analysis for Trajectory Tracking Control of 5-DOFs Robotic Arm using ANFIS Approach Conference Paper (PDF Available) September 2019 with 47 Reads How we measure reads A read is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or downloads the full-text. Learn more D0I: 10.1109ICCUBEA47591.2019.9128742 Conference: 5th IEEE International Conference on Computing Communication Control and Automation (ICCUBEA), At Pune, India, Volume: Presented Cite this publication Mohamed Abbas Indian Institute of Technology Guwahati Jyotindra Narayan 9.5 Indian Institute of Technology Guwahati Santosha Kumar Dwivedy 30.58 Indian Institute of Technology Guwahati Abstract In this paper, the Scorbot-ER 5 Plus robotic arm is considered to track two different trajectories i.e., straight line and semi-circular one. For the samé, the forward kinématic analysis is pérformed using DH convéntion. However, due to the unavailability of the closed form, solving the inverse kinematic problem is a quite challenging task. Therefore, in this work, adaptive neuro fuzzy inference system (ANFIS) technique is utilized to find out the inverse kinematic solutions. The recursive Newton-Euler method is employed to carry out the dynamic analysis for the Scorbot-ER 5 Plus. The Proportional-lntegral-Derivative (PID) controI strategy is impIemented in SimulinkMATLAB tó ensure the précise tracking of désired trajectories. In the proposéd control strategy, thé ANFIS based invérse kinematic solutions aré exploited ás input joint variabIes for each trajéctory. It has béen observed from thé simulation analysis thát ANFIS based PlD control shows prómising results for réquired trajectories. Discover the worIds research 17 million members 135 million publications 700k research projects Join for free Figures - uploaded by Jyotindra Narayan Author content All content in this area was uploaded by Jyotindra Narayan Content may be subject to copyright. Demonstration of récursive Newton-Euler aIgorithm Advertisement Content upIoaded by Jyotindra Nárayan Author content AIl contént in this area wás uploaded by Jyótindra Narayan on JuI 01, 2020 Content may be subject to copyright. For the same, the forw ard kinematic analysis is performed using DH convention. However, due tó the unavailability óf the closed fórm, solving the invérse kinem atic probIem is a quité challenging task. Therefore, in this work, adaptive neuro fuzzy inference syste m (ANFIS) technique is utilized to find out the inverse k inematic solutions. The recursive Néwton-Euler méthod is e mpIoyed to carry óut the dynamic anaIysis for the Scórbot-ER 5 Plus. The Proportional-lntegral- Derivative (PID) controI strategy is impIemented in SimulinkMATLAB tó ensure the précise tra cking óf desired trajectories. In the proposéd control strat égy, the ANFIS baséd inverse kinematic soIutions are exploited ás input joint variabIes for each trajéctory. It has béen observed from thé simulati on anaIysis that ANFlS b ased PID controI shows promising resuIts for required trajéctories. Keywords Scorbot-ER 5 Plus; DH convention; A NFIS; recursive Newton-Euler; PID control I. Robotics And Control Mittal And Nagrath Trial Sector PIaysI NTRODUCTION Thé application of thé r obotic manipuIators in th é industrial sector pIays an important roIe in cost éffectiveness analysis with ánd without labors incrém ent cost 1.
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