2024年“华数杯”数学竞赛A题完整解析代码分享

暮醉花语

机器臂关节角路径的优化设计问题一代码Matlabclcclear%参数定义a=[0,300,1200,300,0,0];alpha=[0,-90,0,-90,-90,-90];d=[600,0,0,1200,0,0];theta_min=[-160,-150,-200,-180,-120,-180];theta_max=[160,15,80,180,120,180]_target=[1500,1200,200];%目标位置lambda=1;%权重因子%初始种群生成population_size=100;num_generations=100;crossover_rate=0.8;mutation_rate=0.1;%随机生成初始种群population=zeros(population_size,6);fori=1:population_sizeforj=1:6population(i,j)=theta_min(j)+(theta_max(j)-theta_min(j))*rand;endend%遗传算法主程序forgeneration=1:num_generations%适应度计算fitness_values=zeros(population_size,1);fori=1:population_sizefitness_values(i)=fitness(population(i,,P_target);end%将适应度值转换为非负值min_fitness=min(fitness_values);fitness_values=fitness_values-min_fitness+1;%确保所有适应度值为正%选择（轮盘赌算法）probabilities=fitness_values/sum(fitness_values);selected_indices=randsample(1:population_size,population_size,true,probabilities);selected_population=population(selected_indices,;%交叉new_population=zeros(population_size,6);fori=1:2:population_sizeifrand