Solving forward and inverse kinematics problem for a robot arm (2DOF) using Fuzzy Neural Petri Net (FNPN)

Abstract

Abstract At a time the robots become an important part of our lives by carrying them many tasks that require strength and accuracy, controlling these robots and giving them high accuracy and performance has become the focus of attention of workers in this field. In this research, one of the problems of controlling the robot arm is represented, where the problems of the forward and inverse kinematics have been addressed and find solutions to it using the artificial intelligence algorithm fuzzy Neural Petri net. The Matlab program was used to simulate the forward and reverse kinematics equations and then use the simulation results as data (inputs, outputs) for the proposed algorithm and run the program to update weights and give the required results depending on the ratio mean square error given.