Professor (Dr. Abdullah Daye) from the College of Engineering – Department of Mechanical Engineering at the University of Baghdad attended the ((2nd International Conference on Emerging Trends and Applications in Artificial Intelligence)) held at Al-Farahidi University on October 2-3, 2024, in collaboration with Medipol University and Karabük University/Turkey. His participation was with the research titled:
((Controlling Robotics Manipulator for Inverse Kinematics using Artificial Intelligence))
The discussion took place on Thursday, 3/10/2024, in the hall of the Technical Engineering College at Al-Farahidi University, in the presence of the university’s vice president. This research aims to study the solution of inverse kinematics using the Adaptive Neuro-Fuzzy Inference System (ANFIS) and artificial intelligence by utilizing the steering angle. A robotic arm with two degrees of freedom was studied and simulated using MATLAB, and ANFIS was created to calculate the angle values ϴ1 and ϴ2 for different input data shapes. The performance of each was then evaluated each time to determine the data that helps achieve the best results. One of the main conclusions of this research is that using the ANFIS technique to solve the inverse kinematics problem has provided reasonably satisfactory results and is one of the most promising techniques in this field. However, it should be used with Cartesian coordinates, as its results are better than those obtained using polar coordinates. On the other hand, using the steering angle value as an additional input allows us to achieve higher accuracy, contributing to increased precision and reliability of this method. The method was applied to a two-degree-of-freedom arm for simplicity, but this technique can theoretically be applied regardless of the number of degrees of freedom, as an estimate is built for each of these angles.
