How to solve evalfis error
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I try to run the program "Modeling Inverse Kinematics in a Robotic Arm"
l1 = 10; % length of first arm
l2 = 7; % length of second arm
theta1 = 0:0.1:pi/2; % all possible theta1 values
theta2 = 0:0.1:pi; % all possible theta2 values
[THETA1,THETA2] = meshgrid(theta1,theta2); % generate a grid of theta1 and theta2 values
X = l1 * cos(THETA1) + l2 * cos(THETA1 + THETA2); % compute x coordinates
Y = l1 * sin(THETA1) + l2 * sin(THETA1 + THETA2); % compute y coordinates
data1 = [X(:) Y(:) THETA1(:)]; % create x-y-theta1 dataset
data2 = [X(:) Y(:) THETA2(:)]; % create x-y-theta2 dataset
plot(X(:),Y(:),'r.');
axis equal;
xlabel('X','fontsize',10)
ylabel('Y','fontsize',10)
title('X-Y coordinates generated for all theta1 and theta2 combinations using forward kinematics formula','fontsize',10)
opt = anfisOptions;
opt.InitialFIS = 7;
opt.EpochNumber = 150;
opt.DisplayANFISInformation = 0;
opt.DisplayErrorValues = 0;
opt.DisplayStepSize = 0;
opt.DisplayFinalResults = 0;
disp('--> Training first ANFIS network.')
anfis1 = anfis(data1,opt);
disp('--> Training second ANFIS network.')
opt.InitialFIS = 6;
anfis2 = anfis(data2,opt);
x = 0:0.1:2; % x coordinates for validation
y = 8:0.1:10; % y coordinates for validation
[X,Y] = meshgrid(x,y);
c2 = (X.^2 + Y.^2 - l1^2 - l2^2)/(2*l1*l2);
s2 = sqrt(1 - c2.^2);
THETA2D = atan2(s2,c2); % theta2 is deduced
k1 = l1 + l2.*c2;
k2 = l2*s2;
THETA1D = atan2(Y,X) - atan2(k2,k1); % theta1 is deduced
Until I run the coding below, I got error using evalfis
XY = [X(:) Y(:)];
THETA1P = evalfis(anfis1,XY); % theta1 predicted by anfis1
THETA2P = evalfis(anfis2,XY); % theta2 predicted by anfis2
The error that I get:
Error using evalfis (line 51)
The second argument must be a FIS structure.
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采纳的回答
DINI
2019-5-30
Hi!!!, when you use the evalfis function, you need to specify: to what data you want to evaluate and with what file.fis what you want to do.
For example, part of my code
in_fis_0000 = genfis1(mem,numMFs,mfType);
out_fis_0000 = anfis(mem,in_fis_0000,epoch_n);
nnn = num2str(ii);
writefis(out_fis_0000,['inf_',nnn]);
fis_0000 = readfis(['inf_',nnn]);
inf_0000 = evalfis(previo,fis_0000); %final evaluation
The steps would be: generate it, read it and evaluate it
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更多回答(1 个)
Humaira Aslam Mian
2020-4-21
XY = [X(:) Y(:)];
THETA1P = evalfis(anfis1,XY); % theta1 predicted by anfis1
THETA2P = evalfis(anfis2,XY); % theta2 predicted by anfis2
Hey just change the position of evalfis(XY,anfis1) & evalfis(XY,anfis2)
worked for me.
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