Inverse Optimal Functions for Motoman HP-3 Tip Precision

Version 1.0.0.0 (677 ko) par Alan Jennings
A population based optimization increases pointing precision for a planar robotic arm.
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Mise à jour 27 juil. 2012

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Because of geometric nonlinearities, pointing precision can be increase by using different poses with the same radial distance. A population of agents optimize the radial precision for continuously varying radial distances. Because the problem is multimodal, a set of locally optimal inverse functions are created. Developed based on the method described in http://dx.doi.org/10.1109/CEC.2011.5949611

The main file is PSO_Function_ArmijoRobot_3.m, and an example published result is included. In addition, PointCluster2Angles_HP5_3.m takes an standard trajectory and then computes the optimized trajectory and compares the precision.

Citation pour cette source

Alan Jennings (2024). Inverse Optimal Functions for Motoman HP-3 Tip Precision (https://www.mathworks.com/matlabcentral/fileexchange/37649-inverse-optimal-functions-for-motoman-hp-3-tip-precision), MATLAB Central File Exchange. Récupéré le .

Compatibilité avec les versions de MATLAB
Créé avec R2009a
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En savoir plus sur Robotics System Toolbox dans Help Center et MATLAB Answers
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A inspiré : Optimal Inverse Function Creation

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Version Publié le Notes de version
1.0.0.0