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Inverse Optimal Functions for Motoman HP-3 Tip Precision

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Inverse Optimal Functions for Motoman HP-3 Tip Precision


Alan Jennings (view profile)


A population based optimization increases pointing precision for a planar robotic arm.

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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

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.


This file inspired Optimal Inverse Function Creation.

Required Products MATLAB
MATLAB release MATLAB 7.8 (R2009a)
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27 Oct 2013 Masoud Ghanbari

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