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

Table 2

Parameters of ANFIS structure.

ANFIS (numbers)	ANFIS (FCM)	ANFIS (SCM)	ANFIS (GP)
Nodes	219	275,233,241,247.98	1503
Fuzzy rules	15	19,16,17,13,14	729
Linear parameters	105	133,112,96,91,98	729
Nonlinear parameters	180	228,192,170,156,182	36