Abstract
This paper considers a kinematic based ANFIS motion modeling and control of a mobile parallel robot (MPR), consist of a multi-degree of freedom (DOF) parallel manipulator and a mobile platform. First, kinematics modeling for the hybrid structure is derived. Then singularities of the MPR structure are identified. Taking the self motion into consideration due to the redundancy, the inverse kinematic is derived using hybrid neuro-fuzzy system called NeFIK. Simulation results show the effectiveness of the proposed approach.
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