An ANFIS based System for the LSPB Trajectory of a Redundant Planar Manipulator

V. Agarwal and A.P. Mittal (India)


Differential motion, Manipulability, Fuzzy logic, ANFIS, and Manipulator.


A new ANFIS based method for the solution of motion rate resolving for a planar manipulator with maximum manipulability is presented. A comparison is made with the conventional P controller for LSPB (Linear Segment Parabolic Blend) trajectory. The proposed method is simple, fast and physically realizable. Its effectiveness has been demonstrated by computer simulation for a four d.o.f. manipulator.

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