The paper evaluates the ability of the Adaptive Neuro-Fuzzy Inference System (ANFIS) Network to develop its own set of inverse kinematics (IK) equations when trained with forward kinematics data. The forward kinematics equation is developed using the Denavit-Hartenberg (D-H) approach while the inverse kinematics equations (which is used to test the ANFIS Network) is developed analytically using geometry. This evaluation is carried out on a four degree of freedom (4DOF) robotic arm.

With increased awareness on the debilitating effects of greenhouse gas emissions (resulting majorly from the combustion of fossil fuels) coupled with the increasing need to explore more sustainable energy sources to cater for the proliferating global energy needs, there would be no better time to pursue a cause in solar photovoltaic (PV) energy generation. Thankfully, due to subsidies and technological advancement, PV systems’ cost are at an all-time low. However, the government and various stakeholders have roles to play in ensuring competitiveness of the PV industry with conventional generating companies (Gencos). This paper outlines the necessary policies and schemes that will aid the Nigerian PV industry in achieving competitiveness and Grid parity (traditionally defined as a situation where the generation cost of Solar PV electricity equals the cost of conventional electricity sources) with conventional Gencos and retail electricity prices.