The Inverse Kinematics Analysis For Tendon-Driven Robot Based On An Adaptive Neuro-Fuzzy Inference System

Tendon-driven robot (TDR) belongs to continuum robots, which is used to obtain minimal invasive surgeries (MISs), especially, laparoscopic surgeries (LSs). There are several types of TDR based on the number of its segments. The relationship between the number of sections and the complexity of the closed-form reverse kinematics is a direct relationship, where the more segments become the system more complex. So, an intelligent training abroach based on an adaptive neuro-fuzzy inference system (ANFIS) is proposed to generate the inverse kinematic of the TDR. Furthermore, a computer simulation program is used to validate the ANFIS inverse kinematic solution of the TDR; and compare it with the closed-form inverse kinematics solution during tracking a path in the workspace. The simulation results show good path tracking and the possibility to use the ANFIS inverse kinematics solution instead of the closed-form solution. As the maximum mean error in the three axes based on the ANFIS inverse kinematics solution is 0.6135 mm.