Modeling Inverse Kinematics in a Robotic Arm

Hello, I'm studying matlab, I can't understand the meaning of this line

THETA1P = evalfis(anfis1,XY);

I kind of figured out that XY - an array that contains data, or rather a set of coordinates of the point of the working body.

THETA1 - array

Can you tell us more about this line?

Thank you

worked with documentation - link

Answer 1

[Kyle Rawding]

Hi -

I understand that you're working through the 'Modeling Inverse Kinematics in a Robot Arm' example and are trying to understand specific lines of code.

The first line you mention is evaluating the FIS 'anfis1' to predict what angles 'theta1' can produce a set of desired end effector locations (x,y). Of course the predicted values of 'theta2' (computed in the next line) are also required to fully define the arm state. For more information about the evalfis function, please visit the documentation page:

https://www.mathworks.com/help/fuzzy/evalfis.html

I don't see the second line you mention ("THETA1 - array")...not sure if you were asking for more clarification about 'theta1', if so, I hope what I wrote above helps.