I am using following objective function:
function Length_Sum = objective_function( l1,l2,l3 )
Length_Sum = l1 + l2 + l3;
end
With constraints function given below:
function [c, ceq] = simple_constraint(l1,l2,l3)
c(1) = l3^2 + 200*l3*cos(30) + 10000 - (l1 + l2)^2;
c(2) = (100- l3*cos(30))^2 + (100*sin(30))^2 - (l1-l2)^2;
thetas = inverse_kinematics(l1,l2,l3);
c(3) = thetas(4,1) - 160;
c(4) = thetas(4,2) - 160;
c(5) = thetas(4,3) - 160;
c(6) = 20 - thetas(4,1);
c(7) = 20 - thetas(4,2);
c(8) = 20 - thetas(4,3);
c(9) = thetas(5,1) - 340;
c(10) = thetas(5,2) - 340;
c(11) = thetas(5,3) - 340;
c(12) = 200 - thetas(5,1);
c(13) = 200 - thetas(5,2);
c(14) = 200 - thetas(5,3);
c(15) = thetas(6,1) - 340;
c(16) = thetas(6,2) - 340;
c(17) = thetas(6,3) - 340;
c(18) = 200 - thetas(6,1);
c(19) = 200 - thetas(6,2);
c(20) = 200 - thetas(6,3);
ceq = [];
end
constraint function uses another function for generating values of thetas, the function is given below:
function thetas = inverse_kinematics(l1,l2,l3)
x = 100;
y = 0;
phi = 210*pi/180:60*pi/180:330*pi/180;
x1 = x - (l3*cos(phi));
y1 = y - (l3*sin(phi));
a = sqrt(x1.^2 + y1.^2);
y2 = -y1./a;
x2 = -x1./a;
gamma = atan2(y2,x2);
c = (- x1.^2 - y1.^2 - l1^2 + l2^2)./(2*l1*a);
d = acos(c);
theta1 = gamma + d;
if theta1 < 0
theta1 = theta1 + 2*pi;
end
theta4 = gamma - d;
if theta4 < 0
theta4 = theta4 + 2*pi;
end
e = (y1 - l1*sin(theta1))/l2;
f = (x1 - l1*cos(theta1))/l2;
theta2 = atan2(e,f) - theta1;
if theta2 < 0
theta2 = theta2 + 2*pi;
end
g = (y1 - l1*sin(theta4))/l2;
h = (x1 - l1*cos(theta4))/l2;
theta5 = atan2(g,h) - theta4;
if theta5 < 0
theta5 = theta5 + 2*pi;
end
theta3 = (phi)- (theta1 + theta2);
if theta3 < 0
theta3 = theta3 + 2*pi;
end
theta6 = (phi)- (theta4 + theta5);
if theta6 < 0
theta6 = theta6 + 2*pi;
end
thetas = [theta1;theta2;theta3;theta4;theta5;theta6].*180/pi;
end
After running this code using ga toolbox, with lower bounds [20 20 20] and upper bounds [100 100 100] and rest parameters set to default, I am getting "Error in running optimization. Not enough input arguments" error. Can someone help?
