Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm

Joint Authors

Vu, Nga Thi-Thuy
Tran, Nam Phuong
Nguyen, Nam Hoai

Source

Journal of Robotics

Issue

Vol. 2018, Issue 2018 (31 Dec. 2018), pp.1-7, 7 p.

Publisher

Hindawi Publishing Corporation

Publication Date

2018-12-02

Country of Publication

Egypt

No. of Pages

7

Main Subjects

Mechanical Engineering

Abstract EN

This paper presents a scheme based on Adaptive Neuro-Fuzzy Inference Systems (ANFIS) to generate trajectory for excavator arm.

Firstly, the trajectory is predesigned with some specific points in the work space to meet the requirements about the shape.

Next, the inverse kinematic is used and optimization problems are solved to generate the via-points in the joint space.

These via-points are used as training set for ANFIS to synthesis the smooth curve.

In this scheme, the outcome trajectory satisfies the requirements about both shape and optimization problems.

Moreover, the algorithm is simple in calculation as the numbers of via-points are large.

Finally, the simulation is done for two cases to test the effect of ANFIS structure on the generated trajectory.

The simulation results demonstrate that, by using suitable structure of ANFIS, the proposed scheme can build the smooth trajectory which has the good matching with desired trajectory even that the desired trajectory has the complicated shape.

American Psychological Association (APA)

Vu, Nga Thi-Thuy& Tran, Nam Phuong& Nguyen, Nam Hoai. 2018. Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm. Journal of Robotics،Vol. 2018, no. 2018, pp.1-7.
https://search.emarefa.net/detail/BIM-1197771

Modern Language Association (MLA)

Vu, Nga Thi-Thuy…[et al.]. Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm. Journal of Robotics No. 2018 (2018), pp.1-7.
https://search.emarefa.net/detail/BIM-1197771

American Medical Association (AMA)

Vu, Nga Thi-Thuy& Tran, Nam Phuong& Nguyen, Nam Hoai. Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm. Journal of Robotics. 2018. Vol. 2018, no. 2018, pp.1-7.
https://search.emarefa.net/detail/BIM-1197771

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references

Record ID

BIM-1197771