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JOURNALS // News of the Kabardino-Balkarian Scientific Center of the Russian Academy of Sciences // Archive

News of the Kabardino-Balkarian Scientific Center of the Russian Academy of Sciences, 2020 Issue 4, Pages 11–17 (Mi izkab133)

COMPUTER SCIENCE. CALCULATION EQUIPMENT. MANAGEMENT

A finger inverse kinematics solution method for a bionic prosthetic hand based on adaptive neuro – fuzzy inference system (ANFIS)

E. Sh. Maltseva, M. A. Shereuzhev

Bauman Moscow State Technical University (BMSTU) 105005, Moscow, st. 2nd Baumanskaya, 5, bldg. 1

Abstract: One of the most important problems in robot kinematics and control is finding the solution of inverse kinematics. Traditional methods such as geometric, iterative and algebraic are inadequate if the joint structure of the manipulator is complex. This article uses Adaptive Network-based Fuzzy Inference System (ANFIS), which allows to find a solution for a finger inverse kinematics of a bionic prosthetic hand which can be represented as a three – link planar manipulator with two independent degrees of freedom.

Keywords: manipulator, inverse kinematics, ANFIS, training data, testing data.

UDC: 004.896

MSC: Primary 93-10; Secondary 70E60

Received: 16.07.2020

DOI: 10.35330/1991-6639-2020-4-96-11-17



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