Adaptive Neuro-Fuzzy Inference System Based Path Planning for Excavator Arm

Table 1

Parameters of the ANFIS after training.

	ci		pi	ri
joint	2.4929	3.1575	-0.0260	0.6923
	2.8817	15.6040	0.0059	0.3450
	3.4474	20.7265	-0.0102	1.0390
joint	1.2196	6.6245	-0.0359	-1.4945
	1.3634	8.1598	-0.0171	-1.7741
	0.9156	13.9925	0.0016	-2.0630
joint	1.5545	4.9146	0.0681	0.7954
	4.0780	16.0198	0.0401	1.1314
	3.3035	20.4656	0.0327	0.2277