Detailed results of the comparison of basis functions used in interval-based optimization process

HAL Id: hal-04320488 Submitted on 4 Dec 2023 HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci- entific research documents, whether they are pub- lished or not. [...] Detailed results of the comparison of basis functions used in interval-based optimization process. 2023. [...] 23 Detail of the basis functions The different basis functions presented in [? [...] Table 1 represents the coefficient of the matrix B. [...] Table 2 represents the coef- ficient of the matrix B−1. [...] Eventually, Table 3 shows the plot for the different functins from order 2 to 6. [...] , n} Γj ∈ [−αΓj : αΓj] (12) We present the results for two different 3D robots (with n = 4 and n = 6 degrees of freedom) which derive from the KUKA LWR as presented on Figure 1. [...] The 4-dof robot is obtained by considering the joint number 3 and 5 equal to zero. [...] Figure 1: The 3D robot : KUKA LWR The solution of Problem 12 is the static posture, i.e. [...] 5.2 Constraint evaluation First, Table 24 and 25 presents the results of the constraint and cost func- tion computation considering several inputs to compare the effectiveness of the Evaluation.