st_robot.gms:
References:
- Tawarmalani, M, and Sahinidis, N, Convexification and Global Optimization in Continuous and Mixed-Integer Nonlinear Programming: Theory, Algorithms, Software, and Applications. Kluwer, 2002.
- Tsai, L -, and Morgan, A P, Solving the kinematics of the most general six- and five-degree-of-freedom manipulators by continuation methods. ASME J. Mech. Transm. Automa. Des. 107 (1985), 189-200.
Point:
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* NLP written by GAMS Convert at 09/03/02 17:54:06
*
* Equation counts
* Total E G L N X C
* 9 9 0 0 0 0 0
*
* Variable counts
* x b i s1s s2s sc si
* Total cont binary integer sos1 sos2 scont sint
* 9 9 0 0 0 0 0 0
* FX 0 0 0 0 0 0 0 0
*
* Nonzero counts
* Total const NL DLL
* 25 9 16 0
*
* Solve m using NLP minimizing objvar;
Variables x1,x2,x3,x4,x5,x6,x7,x8,objvar;
Equations e1,e2,e3,e4,e5,e6,e7,e8,e9;
e1.. 0.004731*x1*x3 - 0.1238*x1 - 0.3578*x2*x3 - 0.001637*x2 - 0.9338*x4 + x7
=E= 0.3571;
e2.. 0.2238*x1*x3 + 0.2638*x1 + 0.7623*x2*x3 - 0.07745*x2 - 0.6734*x4 - x7
=E= 0.6022;
e3.. x6*x8 + 0.3578*x1 + 0.004731*x2 =E= 0;
e4.. - 0.7623*x1 + 0.2238*x2 =E= -0.3461;
e5.. POWER(x1,2) + POWER(x2,2) =E= 1;
e6.. POWER(x3,2) + POWER(x4,2) =E= 1;
e7.. POWER(x5,2) + POWER(x6,2) =E= 1;
e8.. POWER(x7,2) + POWER(x8,2) =E= 1;
e9.. objvar =E= 0;
* set non default bounds
x1.lo = -1; x1.up = 1;
x2.lo = -1; x2.up = 1;
x3.lo = -1; x3.up = 1;
x4.lo = -1; x4.up = 1;
x5.lo = -1; x5.up = 1;
x6.lo = -1; x6.up = 1;
x7.lo = -1; x7.up = 1;
x8.lo = -1; x8.up = 1;
* set non default levels
* set non default marginals
Model m / all /;
m.limrow=0; m.limcol=0;
$if NOT '%gams.u1%' == '' $include '%gams.u1%'
Solve m using NLP minimizing objvar;
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