Open ljvmiranda921 opened 3 years ago
Comment written by Roger on 03/13/2018 07:41:51
Sorry I'm python beginner, I have question in using pso. How to run you's example . I'm testing the running time.
Thank'you.
Comment written by Lj Miranda on 03/13/2018 09:02:05
Hi Roger,
First, we create objects of the PSO class and the robotic arm, then call the `runOptimizer ` function while treating the `forwardKinematics` method as the objective function (this computes the cost, or the L2 distance between the target and the current location).
# Import modules
from particleSwarmOptimization import ParticleSwarmOptimization
from roboticArm import RoboticArm
# Initialize arm with distances
# Say, d1=5, d2=4, d4=7, d6=8
arm = RoboticArm(d1=5,d2=4,d4=7,d6=8)
opt = ParticleSwarmOptimization()
# Run optimizer with your parameters and arm.forwardKinematics as the
# objective function. Be sure to define your variables first (i.e. target, params, etc)
# before passing them to the function.
opt.runOptimizer(arm.forwardKinematics, target, params, iterations, options)
Hopefully this clears things up. The PSO API is very clunky and un-pythonic. You can use Pyswarms (https://github.com/ljvmiran... as your optimizer. Just define your roboticArm as an objective function.
Comment written by Lj Miranda on 05/23/2018 05:45:08
Hello, sorry for the very late reply, I didn't receive a notification from this.
If you wish to measure the running time, I'd recommend using the library I've built instead . It's
well-tested and much more stable. The link is here (https://github.com/ljvmiran...
and you can find some docs here (http://pyswarms.readthedocs...
Here, you need to define your objective function. For Inverse Kinematics PSO, this can
be the distance between your target end-point to the current end-point your forward kinematics
have.
Hope it helps a bit
Although it does not give an error not work, what could be the reason?
Hi I'm not sure what you meant?
Hi, The codes you shared on Github work without any errors in my 3.9 spyder console. But it doesn't show me a figure screen. Help me please.
Windows için Postahttps://go.microsoft.com/fwlink/?LinkId=550986 ile gönderildi
Kimden: Lj @.> Gönderilme: 14 Ocak 2022 Cuma 05:13 Kime: @.> Bilgi: @.>; @.> Konu: Re: [ljvmiranda921/comments.ljvmiranda921.github.io] Solving the Inverse Kinematics problem using Particle Swarm Optimization (#1)
Hi I'm not sure what you meant?
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Written on 02/05/2017 03:31:02
URL: https://ljvmiranda921.github.io/notebook/2017/02/04/inverse-kinematics-pso/