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Forward Kinematics of a 6x6 UPU Parallel Mechanism by ANFIS Method

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dc.contributor.authorGhorbani, Leila
dc.contributor.authorOmurlu, Vasfi Emre
dc.date.accessioned2026-06-27T14:09:59Z
dc.date.issued2018
dc.description.abstractIn this paper, we address the forward kinematics solution of 6DOF 6x6 UPU parallel mechanism using three different approaches. In contrast to the case of serial robots, the forward kinematics of parallel manipulators contain highly coupled nonlinear equations which are possible to solve analytically only in very special cases. In the proposed paper, Adaptive-Network-based Fuzzy Inference System (ANFIS), Multilayer Perceptron (MLP) and Radial Base Function (RBF) Neural Network methods are implemented to reach the forward kinematics solution of a low payload flight simulator. Solution accuracies have been compared, and it has been concluded that ANFIS shows better performance compared to MLP and RBF networks.en
dc.identifier.isbn978-1-5386-7641-7
dc.identifier.urihttps://hdl.handle.net/20.500.14981/57446
dc.identifier.wos000491282100142
dc.language.isoeng
dc.publisherIEEE
dc.relation.conference6th International Conference on Control Engineering and Information Technology (CEIT)
dc.relation.ispartof2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT)
dc.subjectstewart platform
dc.subjectparallel mechanisms
dc.subjectforward kinematics
dc.subjectneural network
dc.subjectmultilayer perceptron (mlp)
dc.subjectradial basis function (rbf)
dc.subjectadaptive-network-based fuzzy inference system (anfis)
dc.subjectSTEWART
dc.subjectALGORITHM
dc.subjectAutomation & Control Systems
dc.subjectComputer Science
dc.subjectEngineering
dc.titleForward Kinematics of a 6x6 UPU Parallel Mechanism by ANFIS Method
dc.typeProceedings Paper
dspace.entity.typePublication
local.import.sourceWOS

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