Patent ID: 11969892
Assignee: BEIHANG UNIVERSITY
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 9:
10. The non-transitory computer-readable storage medium of claim 9, wherein in the method, the symmetric fitness subfunction considers symmetry of the two grasping points in each group of genes relative to the centroid of the rod member, and corresponding formulas are as follows:, m
    
    
     f
     
      1
      ⁢
      n
     
    
   
   =
   
    1
    
     
      Δ
      ⁢
      
       
         
         
        m
       
       
        x
        n
        2
       
      
     
     +
     
      Δ
      ⁢
      
       
         
         
        m
       
       
        y
        n
        2
       
      
     
     +
     
      Δ
      ⁢
      
       
         
         
        m
       
       
        z
        n
        2
       
      
     
    
   
  
  ,, Δ
    ⁢
    
     
       
       
      m
     
     
      x
      n
      2
     
    
   
   
    =
    m
   
   
    
     
      
       
         
         
        m
       
       
        x
        Ln
        2
       
      
      -
      
       
         
         
        m
       
       
        x
        Ln
        2
       
      
     
     2
    
    -
    
     
       
       
      m
     
     
      x
      M
       
     
    
   
  
  ,, Δ
     m
    
    ⁢
    
     y
     n
    
   
   =
   
    
     
      
       
         
         
        m
       
       
        y
        Ln
        2
       
      
      -
      
       
         
         
        m
       
       
        y
        Rn
        2
       
      
     
     2
    
    -
    
     
       
       
      m
     
     
      y
      M
       
     
    
   
  
  ,, Δ
      m
     
    
    ⁢
    
     z
     n
    
   
   =
   
    
     
      
       
         
         
        m
       
       
        z
        Ln
       
      
      -
      
       
        Δ
         
        m
       
       ⁢
       
        z
        Rn
       
      
     
     2
    
    ⁢
    Δ
    ⁢
    
     
       
       
      m
     
     
      z
      M
     
    
   
  
  ,
 

wherein, mf1n represents the symmetric fitness subfunction, (xM, yM, zM) represents coordinates of the center of gravity of the to-be-grasped rod member, Δx, Δy, Δz represents the coordinate difference between the center of the line connecting the two target grasping points and the centroid of the rod member, subscripts L and R respectively represent left and right arms, superscript m represents the gene number in each generation of population, and subscript n represents the sequence number of the generation to which the population belongs.