Inverse Optimal Functions for Motoman HP-3 Tip Precision

バージョン (677 KB) 作成者: Alan Jennings
A population based optimization increases pointing precision for a planar robotic arm.

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更新 2012/7/27


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

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 (2022). Inverse Optimal Functions for Motoman HP-3 Tip Precision (, MATLAB Central File Exchange. 取得済み .

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作成: R2009a
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ヒントを与えたファイル: Optimal Inverse Function Creation

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