ANFIS inverse kinematics method in bilateral control system based on DOB of delta robot

Abstract

Recently, delta robots are widely used in many industrial applications because the structure of delta robot is close loop chain and has properties of high rigid body and fast movement. To transform from task space to joint space, inverse kinematic is used to calculate. However, the system has a time delay and its equations are complication because of nonlinear equation. In this paper, an Adaptive Neuro Fuzzy Inference System (ANFIS) method is used to calculate the inverse kinematics in the easy way. Task space position is transformed to joint space by using ANFIS, therefore it can decrease the complication of the nonlinear equation. Moreover, the force response is transfer between master and slave robot using Jacobian Matrix and negated the gravity force and also the task space position control using forward and ANFIS inverse kinematic. The control system uses disturbance observer (DOB) to estimate sum of action/reaction force of master-slave delta robot instead of the force sensors.