Computational Intelligence-based Evaluation of a 3-DOF Robotic-arm Forward Kinematics
Robotic manipulator- forward Kinematics involves the assurance of end-effector arrangements from connecting joint boundaries. The traditional mathematical calculation of controller forward -Kinematics is monotonous and tedious. Accordingly, it is important to execute a strategy that precisely perfor...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | Arabic |
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University of Information Technology and Communications
2021-06-01
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| Series: | Iraqi Journal for Computers and Informatics |
| Subjects: | |
| Online Access: | https://ijci.uoitc.edu.iq/index.php/ijci/article/view/320 |
| _version_ | 1797650361578684416 |
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| author | Doubt Simango Tawanda Mushiri Jaafar A. Aldhaibani Abid Yahya Fungai Kiwa Edith Mbombi |
| author_facet | Doubt Simango Tawanda Mushiri Jaafar A. Aldhaibani Abid Yahya Fungai Kiwa Edith Mbombi |
| author_sort | Doubt Simango |
| collection | DOAJ |
| description | Robotic manipulator- forward Kinematics involves the assurance of end-effector arrangements from connecting joint boundaries. The traditional mathematical calculation of controller forward -Kinematics is monotonous and tedious. Accordingly, it is important to execute a strategy that precisely performs forward energy while wiping out the disadvantages of the mathematical calculation technique. Versatile Neuro-Fuzzy Inference System (ANFIS) is a computational knowledge strategy that has been effectively executed for expectation purposes in assorted logical orders. This present examination's essential goal was to evaluate the productivity of ANFIS in foreseeing 3-levels of opportunity automated controller Cartesian directions from connecting joint boundaries. A speculative 3-level of opportunity automated controller has been considered in this investigation. Model preparing information has been obtained by mathematical forward kinematics calculation of the controller's end effector arrangements. Nine datasets have been utilized for model preparing, while five datasets have been utilized for model testing or approval. The ANFIS model's precision has been surveyed by figuring the Mean outright Percentage Error (MAPE) between the real and anticipated end-effector Cartesian directions. Because of Mean Absolute Percentage Error (MAPE), the created ANFIS model has forecast correctness’s of 63.35% and 80.07% in foreseeing x-directions and y-organizes, separately. Accordingly, ANFIS can be dependably executed as a commendable substitute for the customary arithmetical calculation method in anticipating controller Cartesian directions. It is suggested that the precision of other computational knowledge methods like Particle Swarm Optimization (PSO) and Support Vector Machines (SVM) be evaluated. |
| first_indexed | 2024-03-11T16:00:13Z |
| format | Article |
| id | doaj.art-ac10b72588b246378be496f7cb601cca |
| institution | Directory Open Access Journal |
| issn | 2313-190X 2520-4912 |
| language | Arabic |
| last_indexed | 2024-03-11T16:00:13Z |
| publishDate | 2021-06-01 |
| publisher | University of Information Technology and Communications |
| record_format | Article |
| series | Iraqi Journal for Computers and Informatics |
| spelling | doaj.art-ac10b72588b246378be496f7cb601cca2023-10-25T07:52:40ZaraUniversity of Information Technology and CommunicationsIraqi Journal for Computers and Informatics2313-190X2520-49122021-06-01471273510.25195/ijci.v47i1.320281Computational Intelligence-based Evaluation of a 3-DOF Robotic-arm Forward KinematicsDoubt Simango0Tawanda Mushiri1Jaafar A. Aldhaibani2Abid Yahya3Fungai Kiwa4Edith Mbombi5School of Engineering Sciences & TechnologyUniversity of ZimbabweUniversity of Information Technology and CommunicationsBotswana International University of Science & TechnologySchool of Engineering Sciences & TechnologySchool of Engineering Sciences & TechnologyRobotic manipulator- forward Kinematics involves the assurance of end-effector arrangements from connecting joint boundaries. The traditional mathematical calculation of controller forward -Kinematics is monotonous and tedious. Accordingly, it is important to execute a strategy that precisely performs forward energy while wiping out the disadvantages of the mathematical calculation technique. Versatile Neuro-Fuzzy Inference System (ANFIS) is a computational knowledge strategy that has been effectively executed for expectation purposes in assorted logical orders. This present examination's essential goal was to evaluate the productivity of ANFIS in foreseeing 3-levels of opportunity automated controller Cartesian directions from connecting joint boundaries. A speculative 3-level of opportunity automated controller has been considered in this investigation. Model preparing information has been obtained by mathematical forward kinematics calculation of the controller's end effector arrangements. Nine datasets have been utilized for model preparing, while five datasets have been utilized for model testing or approval. The ANFIS model's precision has been surveyed by figuring the Mean outright Percentage Error (MAPE) between the real and anticipated end-effector Cartesian directions. Because of Mean Absolute Percentage Error (MAPE), the created ANFIS model has forecast correctness’s of 63.35% and 80.07% in foreseeing x-directions and y-organizes, separately. Accordingly, ANFIS can be dependably executed as a commendable substitute for the customary arithmetical calculation method in anticipating controller Cartesian directions. It is suggested that the precision of other computational knowledge methods like Particle Swarm Optimization (PSO) and Support Vector Machines (SVM) be evaluated.https://ijci.uoitc.edu.iq/index.php/ijci/article/view/320robotic manipulator forward kinematicsadaptive neuro-fuzzy inference system (anfis) |
| spellingShingle | Doubt Simango Tawanda Mushiri Jaafar A. Aldhaibani Abid Yahya Fungai Kiwa Edith Mbombi Computational Intelligence-based Evaluation of a 3-DOF Robotic-arm Forward Kinematics Iraqi Journal for Computers and Informatics robotic manipulator forward kinematics adaptive neuro-fuzzy inference system (anfis) |
| title | Computational Intelligence-based Evaluation of a 3-DOF Robotic-arm Forward Kinematics |
| title_full | Computational Intelligence-based Evaluation of a 3-DOF Robotic-arm Forward Kinematics |
| title_fullStr | Computational Intelligence-based Evaluation of a 3-DOF Robotic-arm Forward Kinematics |
| title_full_unstemmed | Computational Intelligence-based Evaluation of a 3-DOF Robotic-arm Forward Kinematics |
| title_short | Computational Intelligence-based Evaluation of a 3-DOF Robotic-arm Forward Kinematics |
| title_sort | computational intelligence based evaluation of a 3 dof robotic arm forward kinematics |
| topic | robotic manipulator forward kinematics adaptive neuro-fuzzy inference system (anfis) |
| url | https://ijci.uoitc.edu.iq/index.php/ijci/article/view/320 |
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