ANFIS Based-Kinematic Modeling of Mobile Parallel Robot

Author

Khoukhi, Amar ; Hamdan, Mutaz ; Al-Sunni, Fouad

Author_Institution

Syst. Eng. Dept., King Fahd Univ. for Pet. & Miner., Dhahran, Saudi Arabia

fYear

2012

fDate

28-30 March 2012

Firstpage

242

Lastpage

247

Abstract

This paper considers a kinematic based ANFIS motion modeling and control of a mobile parallel robot (MPR), consist of a multi-degree of freedom (DOF) parallel manipulator and a mobile platform. First, kinematics modeling for the hybrid structure is derived. Then singularities of the MPR structure are identified. Taking the self motion into consideration due to the redundancy, the inverse kinematic is derived using hybrid neuro-fuzzy system called NeFIK. Simulation results show the effectiveness of the proposed approach.

Keywords

fuzzy control; manipulator kinematics; mobile robots; motion control; neurocontrollers; ANFIS based-kinematic modeling; DOF parallel manipulator; MPR structure; NeFIK; hybrid neurofuzzy system; inverse kinematic; mobile parallel robot; mobile platform; multi-degree of freedom; Jacobian matrices; Joints; Kinematics; Mobile communication; Parallel robots; Trajectory; Dynamic Modeling; Kinematic Redundancy; Mobile Parallel Robot (MPR); Mobile Robot; Parallel Robots; Singularity Characterization and Avoidance;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Modelling and Simulation (UKSim), 2012 UKSim 14th International Conference on

Conference_Location

Cambridge

Print_ISBN

978-1-4673-1366-7

Type

conf

DOI

10.1109/UKSim.2012.42

Filename

6205456