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Code covered by the BSD License  

Highlights from
Motion Planning for a Robot Arm by Using Genetic Algorithm

  • aliwork(varargin) Begin initialization code - DO NOT EDIT
  • [b,a]=invkin3(x,y,phi)
  • [k,a]=invkini(x,y,phi)
  • [xxt,yyt]=angls2links(bq)
  • [xxt,yyt]=angls2links2(bq)
  • a=fobstacle()
  • a=fobstacle2(xx,yy)
  • a=invkin(x,y)
  • a=recor(bsol,para)
  • a=recor2(bsol,para)
  • d=mutate1(pop,mutprop)%unifor...
  • f=ftorque(tt)
  • f=ftorque3(tt)
  • fitnesstra2(pop,para)
  • fitnesstra2(pop,para)
  • fitnesstra3f(pop,para)
  • fitnesstra3ob(pop,para)
  • forkin3(t1,t2,t3)
  • m=forkin(h)
  • off=cross_singlepoint(parent,...
  • rr=torque(kk)
  • tt=torque3(kk)
  • www=trajt3(para,chrom)
  • zz=trajt(para,chrom) syms para chrom
  • trajectory_planning2f.m
  • trajectory_planning2ob.m
  • trajectory_planning3f.m
  • trajectory_planning3ob.m
  • Movie_1.wmv
  • View all files
from Motion Planning for a Robot Arm by Using Genetic Algorithm by Ali Talib Oudah
genetic algorithm is used to optimize the trajectory planning for robot arm.

d=mutate1(pop,mutprop)%uniform mutation.
function d=mutate1(pop,mutprop)%uniform mutation.
global  bound rng
[pops,numvar]=size(pop);
mut=round(mutprop*pops*numvar);
for i=1:mut
    x=ceil(rand*size(pop,1));
    y=ceil(rand*numvar);
    pop(x,y)=bound(y,1)+rand*rng(y);
    offs(i,:)=pop(x,:);
    pop(x,:)=[];
end
d=[offs;pop];

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