文章基本信息

标题：Modelling and Control of 5DOF Robot Arm using ANFIS Toolbox
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作者：Payal Agnihotri ; Banga VK ; Gurjeet Singh ER 等
期刊名称：International Journal of Innovative Research in Computer and Communication Engineering
印刷版ISSN：2320-9798
电子版ISSN：2320-9801
出版年度：2015
卷号：3
期号：10
DOI：10.15680/IJIRCCE.2015.0310151
出版社：S&S Publications
摘要：In this paper modelling and control of 5 level of freedom robotic arm is presented. It provides forward andinverse kinematics is derived based on Denavit-Hartenberg (DH) representation and ANFIS toolbox. The key objective ofthe paper is definitely to model the robotic arm by using D-H parameters. The kinematics problem is defined as thetransformation from the Cartesian space to the joint space and vice versa. This paper aims to model the forward and inversekinematics of a 5 DOF Robotic Arm for easy pick and place application. An over-all D-H representation of forward andinverse matrix is obtained.
关键词：Forward Kinematics; Inverse Kinematics; Robotic Arm; Levels of Freedom (DOF); Denavit-Hartenberg;Representation; ANFIS toolbox