ANFIS-Inverse-Controlled PUMA 560 Workspace Robot with Spherical Wrist

Abstract

Cognitive architecture is used here to create a portfolio of movement in a spherical-wristed PUMA 560 robot. Adaptive Neuro-Fuzzy Inference System (ANFIS) was used, and the robot’s postures and trajectories were executed in Virtual Reality (VR). The design aims to enable complex movements through use of the dual phases of ANFIS: one, solution by Inverse Kinematic Problem (IKP) with ANFIS identifier, for the end-effector’s position and orientation as allowed by the 3-DOF wrist (the identifier offers high computation and accuracy of the IKP solution), two, implementing an inverse-ANFIS controller for all the robot’s joint angles. VR implemented the robot’s movements through the controller’s use of forward dynamics. The IKP of determining a set of joint angles to achieve a given command for the manipulator’s postures is addressed. The design’s simulation was enabled by connecting the VR environment with Simulink/MATLAB Ver. 2012a. Forward and inverse kinematics implemented the manipulator’s movements. Results validated the robot’s range of possible postures and trajectories.