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Embedded ANFIS as a Supervisory Controller for a 6-DOF Robotic Arm
International Journal of Engineering Research
This paper implements multi-layered ANFIS controller in PIC16F886 micro-controller as a supervisory control for a 6 DOF robotic arm. The complexity in mathematical modelling demands for machine-learning techniques, which rely less on precise mathematical analysis. ANFIS is one such machine learning technique which helps in decision making for the control of robotic arms. Standard PD controllers could be used as servos to guarantee precise tracking. Based on real physical parameters of Dexterdoi:10.17950/ijer/v3s5/505 fatcat:rmvbbfoetjd6ldfgobsnbz2354