[Retracted] An Improved Inverse Kinematics Solution for a Robot Arm Trajectory Using Multiple Adaptive Neuro-Fuzzy Inference Systems

Figure 8

Best error results. (a) SCM-ANFIS for joint 1; (b) GP-ANFIS for joint 2; (c) GP- ANFIS for joint 3; (d) GP-ANFIS for joint 4; (e) GP-ANFIS for joint 5.

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(b)

(c)

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(e)