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

Table 1

DH parameters.

Joint i	θi (rad)	ℓi (mm)	di (mm)	αi (rad)
1	Θ1	a1 = 16	349	π/2
2	Θ2	a2 = 221	0	0
3	Θ3	a3 = 221	0	0
4	Θ4	0	0	π/2
5	Θ5	0	145	0