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.
Alan Jennings (2021). 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. Retrieved .
Inspired: Optimal Inverse Function Creation
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