Manipulation-based skills for anthropomorphic human-arm system based on integrated ANFIS and vector calculus

Abstract

In this paper, we focus on developing our new approaches to solve Inverse Kinematics using Vector Calculus and integrating the ANFIS module. Specifically, these approaches are evaluated in term of accuracy and performance on the 5-DOF robotic arm model inspired by the human arm structure. Evaluation for our new approaches are described detail in this paper and therefore shows the efficiency and robustness of our methods and potentially leads a new research direction in modeling kinematics of anthro-pomorphic robotic arm.