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

Table 4

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

ci		pi	ri
1.9499	0.8483	0.0684	0.8396
2.3933	3.6964	0.0802	0.7339
0.4202	7.8501	0.0859	0.7016
0.8204	10.3098	0.0127	1.3822
0.5266	12.5082	-0.0044	1.6211
0.8842	16.2364	-0.0438	2.1717
0.5693	18.9473	-0.0471	2.2301
0.3972	22.3126	0.0001	1.2383
1.0464	25.0587	0	1.2392