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

Table 3

Parameters of the ANFIS after training for the joint (Case 2).

ci		pi	ri
2.6620	0.5242	-0.0485	-1.5113
2.2012	4.6932	-0.0550	-1.4146
0.6739	10.0057	-0.0124	-1.8130
1.6379	15.2547	-0.0005	-2.0323
2.2804	19.8801	0.0034	-2.0965
2.0898	24.9830	0.0014	-2.0627