Modelling Inverse Kinematics for Virtual Environment Robot Simulation

The paper presents a visual application interface for modelling the inverse kinematics of a robot leg as part of a visual intelligent platform for virtual environment robotic simulation. The tracking reference for the angular joints is given using a trained neuro-fuzzy model instead of the usual inverse kinematic system. The validity of the model is checked in the Cartesian workspace. The visual application provides easy access to model parameterisation and also serves as a training tool for familiarization with the robotic applications workspace.