- You will be supplied with a solution of the 2R planar manipulator IK using the ANFIS tool from the MATLAB Fuzzy Logic Toolbox. You are required to extend this to model the IK of a 3R planar manipulator. The aim here is to train the system with a known closed-form forwards kinematics solution at a fixed number of positions and then for ANFIS to provide approximate solutions to the IK over the whole usable workspace of the manipulator.
- You will need to experiment with a number of parameters to find a system which learns with sufficient accuracy but without unacceptably long training times. It is particularly important to demonstrate that the trained network generalizes well using suitable validation methods.
- Compare the ANFIS model with a Neural Network. This could be implemented using any of the Architectures which have been taught on the module but the most obvious choice would be either a MLP or RBF type of network. This should be implemented using the MATLAB Neural Network Toolbox.
- Reporting:
You have to write a report, using not more than 2500 words to describe your investigations and results. You need to:
1) Demonstrate that you understand the theory behind the approaches you use to solve a problem.
2) Explain the methods used and describe the steps taken to validate your results.
3) Include critical assessment and analysis of the relative merits of the approaches you have used. 4) Include Discussion of Results and Conclusions.
5) Provide references using the Harvard system http://www1.uwe.ac.uk/students/studysupport/studyskills/referencing/uweharvard.asp x
Sample Solution