Code covered by the BSD License
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aliwork(varargin)
Begin initialization code - DO NOT EDIT
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[b,a]=invkin3(x,y,phi)
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[k,a]=invkini(x,y,phi)
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[xxt,yyt]=angls2links(bq)
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[xxt,yyt]=angls2links2(bq)
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a=fobstacle()
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a=fobstacle2(xx,yy)
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a=invkin(x,y)
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a=recor(bsol,para)
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a=recor2(bsol,para)
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d=mutate1(pop,mutprop)%unifor...
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f=ftorque(tt)
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f=ftorque3(tt)
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fitnesstra2(pop,para)
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fitnesstra2(pop,para)
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fitnesstra3f(pop,para)
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fitnesstra3ob(pop,para)
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forkin3(t1,t2,t3)
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m=forkin(h)
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off=cross_singlepoint(parent,...
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rr=torque(kk)
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tt=torque3(kk)
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www=trajt3(para,chrom)
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zz=trajt(para,chrom)
syms para chrom
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trajectory_planning2f.m
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trajectory_planning2ob.m
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trajectory_planning3f.m
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trajectory_planning3ob.m
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Movie_1.wmv
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View all files
Motion Planning for a Robot Arm by Using Genetic Algorithm
by Ali Talib Oudah
13 Mar 2009
genetic algorithm is used to optimize the trajectory planning for robot arm.
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Watch this File
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| File Information |
| Description |
This code proposes genetic algorithm (GA) to optimize the point-to-point trajectory planning for a 3-link (redundant) robot
arm. The objective function for the proposed GA is to minimizing traveling time and space, while not exceeding a maximum
pre-defined torque, without collision with any obstacle in the robot workspace. Quadrinomial and quintic polynomials are
used to describe the segments that connect initial, intermediate, and final point at joint-space. Direct kinematics has been used
for avoiding the singular configurations of the robot arm. To watch the paper which code made for it, follow this link.
http://jjmie.hu.edu.jo/files/JJMIE-V2-N3-press/2(16-21).pdf
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| MATLAB release |
MATLAB 7 (R14)
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