Joint-Tolerance-Estimation

By Weiye Zhao, Suqin He, and Changliu Liu

Introduction

Joint-Tolerance-Estimation contains the implementation of JTE algorithms proposed in this paper: https://arxiv.org/abs/2104.08896 (newest version is in submission to CDC 2022)

Requirements: software

MATLAB 2019a or later.

Requirements: hardware

CPU, Windows 7 or later, MAC OS.

To recover the results reported in the paper

Run Planar_robot\two_D_plane_*dof.m to compute the joint tolerance bound for varying degrees of freedom robot in 2d planar plane using JTE algorithm.
Run Cartesian_robot\cartesian_*dof.m to compute the joint tolerance bound for varying degrees of freedom plane robot in Cartesian space using JTE algorithm.
Run adversarial\adversarial_2d_*dof.m to compute the joint tolerance bound for varying degrees of freedom robot in 2d planar plane using Adversarial Optimization algorithm.
Run adversarial\adversarial_cartesian_*dof.m to compute the joint tolerance bound for varying degrees of freedom plane robot in Cartesian space using Adversarial Optimization algorithm.

To plot the figures reported in the paper

Run eval\eval_cartesian_*dof.m to plot the sampled end effector position points with respect to the half plane constraints

intelligent-control-lab / Joint-Tolerance-Estimation