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Modelling and Control of 5DOF Robot Arm using ANFIS Toolbox

Payal Agnihotri, Banga VK, Gurjeet Singh ER

In this paper modelling and control of 5 level of freedom robotic arm is presented. It provides forward and inverse kinematics is derived based on Denavit-Hartenberg (DH) representation and ANFIS toolbox. The key objective of the paper is definitely to model the robotic arm by using D-H parameters. The kinematics problem is defined as the transformation from the Cartesian space to the joint space and vice versa. This paper aims to model the forward and inverse kinematics of a 5 DOF Robotic Arm for easy pick and place application. An over-all D-H representation of forward and inverse matrix is obtained.