Identification of the dynamical parameters of a 2-R robot using ANFIS

The computed torque method is one the most important and progressed processes used in most of the advanced control methods. This method is appropriately used for inverse dynamics. It is based on computing the toques and exerted forces on the dynamic system to survey a desired path. The dynamical model is assumed to be identified precisely in this method. It is why many attempts have been done to identify the robotic dynamical parameters. The studied model in this paper is a plane 2-R robot with direct actuator. Within different identification methods, an ANFIS model has been used to identify the dynamical parameters of the robot in this paper. Genetic algorithm has been used to optimize the membership functions of the inputs of the ANFIS model and SVD is used to solve the linear equations set of the ANFIS model.