Investigating the Effect of Changes in Robot Arm Length (2 Degrees of Freedom) on its Angular Performance using Neuro-Fuzzy Model (ANFIS)

Nowadays, robots help humans with so many works and have replaced them in the assistance of performing some laborious and dangerous tasks. The present study aims at finding a relation between changes in length of 2 degrees of freedom (2-DOF) robotic arm and its angular performance. For this purpose, the capabilities of Adaptive Neuro-fuzzy Inference System (ANFIS) and also inverse kinematics method were applied on 2-DOF robotic. The main purpose of this paper is to identify an appropriate arm length for this robot through analyzing and comparing the obtained results from changes carried out on the arm length.