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ANFIS for 2 dof robot

ANFIS for 2 dof robot

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07 May 2012 (Updated )

anfis function is used to create a neural network to solve the inverse kinematics problem

DK47(q5,q6)
function [] = DK47(q5,q6)
q7=pi;
d5=550;
T4_5=[cos(q5) 0 sin(q5) 0
    sin(q5) 0 -cos(q5) 0
    0 1 0 d5
    0 0 0 1];
T5_6=[cos(q6) 0 -sin(q6) 0
    sin(q6) 0 cos(q6) 0
    0 -1 0 0
    0 0 0 1];
T6_7=[cos(q7) -sin(q7) 0 0
    sin(q7) cos(q7) 0 0
    0 0 1 170
    0 0 0 1]
T4_7=T4_5*T5_6*T6_7;
coordinates(T4_7,q5,q6)

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