robotarm3.gms
<![CDATA[
* NLP written by GAMS Convert at 11/29/04 16:22:45
*
* Equation counts
* Total E G L N X C
* 98 98 0 0 0 0 0
*
* Variable counts
* x b i s1s s2s sc si
* Total cont binary integer sos1 sos2 scont sint
* 136 136 0 0 0 0 0 0
* FX 12 12 0 0 0 0 0 0
*
* Nonzero counts
* Total const NL DLL
* 501 159 342 0
*
* Solve m using NLP minimizing objvar;
Variables objvar,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15,x16,x17,x18
,x19,x20,x21,x22,x23,x24,x25,x26,x27,x28,x29,x30,x31,x32,x33,x34,x35
,x36,x37,x38,x39,x40,x41,x42,x43,x44,x45,x46,x47,x48,x49,x50,x51,x52
,x53,x54,x55,x56,x57,x58,x59,x60,x61,x62,x63,x64,x65,x66,x67,x68,x69
,x70,x71,x72,x73,x74,x75,x76,x77,x78,x79,x80,x81,x82,x83,x84,x85,x86
,x87,x88,x89,x90,x91,x92,x93,x94,x95,x96,x97,x98,x99,x100,x101,x102
,x103,x104,x105,x106,x107,x108,x109,x110,x111,x112,x113,x114,x115
,x116,x117,x118,x119,x120,x121,x122,x123,x124,x125,x126,x127,x128
,x129,x130,x131,x132,x133,x134,x135,x136;
Positive Variables x12,x31,x38,x40,x47,x49,x56;
Equations e1,e2,e3,e4,e5,e6,e7,e8,e9,e10,e11,e12,e13,e14,e15,e16,e17,e18,e19
,e20,e21,e22,e23,e24,e25,e26,e27,e28,e29,e30,e31,e32,e33,e34,e35,e36
,e37,e38,e39,e40,e41,e42,e43,e44,e45,e46,e47,e48,e49,e50,e51,e52,e53
,e54,e55,e56,e57,e58,e59,e60,e61,e62,e63,e64,e65,e66,e67,e68,e69,e70
,e71,e72,e73,e74,e75,e76,e77,e78,e79,e80,e81,e82,e83,e84,e85,e86,e87
,e88,e89,e90,e91,e92,e93,e94,e95,e96,e97,e98;
e1.. - x2*x31 - 8*x3 + 8*x4 =E= 0;
e2.. - x2*x32 - 8*x4 + 8*x5 =E= 0;
e3.. - x2*x33 - 8*x5 + 8*x6 =E= 0;
e4.. - x2*x34 - 8*x6 + 8*x7 =E= 0;
e5.. - x2*x35 - 8*x7 + 8*x8 =E= 0;
e6.. - x2*x36 - 8*x8 + 8*x9 =E= 0;
e7.. - x2*x37 - 8*x9 + 8*x10 =E= 0;
e8.. - x2*x38 - 8*x10 + 8*x11 =E= 0;
e9.. - x2*x40 - 8*x12 + 8*x13 =E= 0;
e10.. - x2*x41 - 8*x13 + 8*x14 =E= 0;
e11.. - x2*x42 - 8*x14 + 8*x15 =E= 0;
e12.. - x2*x43 - 8*x15 + 8*x16 =E= 0;
e13.. - x2*x44 - 8*x16 + 8*x17 =E= 0;
e14.. - x2*x45 - 8*x17 + 8*x18 =E= 0;
e15.. - x2*x46 - 8*x18 + 8*x19 =E= 0;
e16.. - x2*x47 - 8*x19 + 8*x20 =E= 0;
e17.. - x2*x49 - 8*x21 + 8*x22 =E= 0;
e18.. - x2*x50 - 8*x22 + 8*x23 =E= 0;
e19.. - x2*x51 - 8*x23 + 8*x24 =E= 0;
e20.. - x2*x52 - 8*x24 + 8*x25 =E= 0;
e21.. - x2*x53 - 8*x25 + 8*x26 =E= 0;
e22.. - x2*x54 - 8*x26 + 8*x27 =E= 0;
e23.. - x2*x55 - 8*x27 + 8*x28 =E= 0;
e24.. - x2*x56 - 8*x28 + 8*x29 =E= 0;
e25.. - x2*x58 - 8*x31 + 8*x32 =E= 0;
e26.. - x2*x59 - 8*x32 + 8*x33 =E= 0;
e27.. - x2*x60 - 8*x33 + 8*x34 =E= 0;
e28.. - x2*x61 - 8*x34 + 8*x35 =E= 0;
e29.. - x2*x62 - 8*x35 + 8*x36 =E= 0;
e30.. - x2*x63 - 8*x36 + 8*x37 =E= 0;
e31.. - x2*x64 - 8*x37 + 8*x38 =E= 0;
e32.. - x2*x66 - 8*x40 + 8*x41 =E= 0;
e33.. - x2*x67 - 8*x41 + 8*x42 =E= 0;
e34.. - x2*x68 - 8*x42 + 8*x43 =E= 0;
e35.. - x2*x69 - 8*x43 + 8*x44 =E= 0;
e36.. - x2*x70 - 8*x44 + 8*x45 =E= 0;
e37.. - x2*x71 - 8*x45 + 8*x46 =E= 0;
e38.. - x2*x72 - 8*x46 + 8*x47 =E= 0;
e39.. - x2*x74 - 8*x49 + 8*x50 =E= 0;
e40.. - x2*x75 - 8*x50 + 8*x51 =E= 0;
e41.. - x2*x76 - 8*x51 + 8*x52 =E= 0;
e42.. - x2*x77 - 8*x52 + 8*x53 =E= 0;
e43.. - x2*x78 - 8*x53 + 8*x54 =E= 0;
e44.. - x2*x79 - 8*x54 + 8*x55 =E= 0;
e45.. - x2*x80 - 8*x55 + 8*x56 =E= 0;
e46.. - x4 + x82 =E= 0;
e47.. - x5 + x83 =E= 0;
e48.. - x6 + x84 =E= 0;
e49.. - x7 + x85 =E= 0;
e50.. - x8 + x86 =E= 0;
e51.. - x9 + x87 =E= 0;
e52.. - x10 + x88 =E= 0;
e53.. - 5.64971751412429*(power(1.18 - x4,3) + power(1.18 + x4,3)) + x114
=E= 0;
e54.. - 5.64971751412429*(power(1.18 - x5,3) + power(1.18 + x5,3)) + x115
=E= 0;
e55.. - 5.64971751412429*(power(1.18 - x6,3) + power(1.18 + x6,3)) + x116
=E= 0;
e56.. - 5.64971751412429*(power(1.18 - x7,3) + power(1.18 + x7,3)) + x117
=E= 0;
e57.. - 5.64971751412429*(power(1.18 - x8,3) + power(1.18 + x8,3)) + x118
=E= 0;
e58.. - 5.64971751412429*(power(1.18 - x9,3) + power(1.18 + x9,3)) + x119
=E= 0;
e59.. - 5.64971751412429*(power(1.18 - x10,3) + power(1.18 + x10,3)) + x120
=E= 0;
e60.. - 5.64971751412429*(power(1.18 - x4,3) + power(1.18 + x4,3))*sqr(cos(x22
)) + x122 =E= 0;
e61.. - 5.64971751412429*(power(1.18 - x5,3) + power(1.18 + x5,3))*sqr(cos(x23
)) + x123 =E= 0;
e62.. - 5.64971751412429*(power(1.18 - x6,3) + power(1.18 + x6,3))*sqr(cos(x24
)) + x124 =E= 0;
e63.. - 5.64971751412429*(power(1.18 - x7,3) + power(1.18 + x7,3))*sqr(cos(x25
)) + x125 =E= 0;
e64.. - 5.64971751412429*(power(1.18 - x8,3) + power(1.18 + x8,3))*sqr(cos(x26
)) + x126 =E= 0;
e65.. - 5.64971751412429*(power(1.18 - x9,3) + power(1.18 + x9,3))*sqr(cos(x27
)) + x127 =E= 0;
e66.. - 5.64971751412429*(power(1.18 - x10,3) + power(1.18 + x10,3))*sqr(cos(
x28)) + x128 =E= 0;
e67.. - 5.64971751412429*(power(1.18 - x4,3) + power(1.18 + x4,3)) + x130
=E= 0;
e68.. - 5.64971751412429*(power(1.18 - x5,3) + power(1.18 + x5,3)) + x131
=E= 0;
e69.. - 5.64971751412429*(power(1.18 - x6,3) + power(1.18 + x6,3)) + x132
=E= 0;
e70.. - 5.64971751412429*(power(1.18 - x7,3) + power(1.18 + x7,3)) + x133
=E= 0;
e71.. - 5.64971751412429*(power(1.18 - x8,3) + power(1.18 + x8,3)) + x134
=E= 0;
e72.. - 5.64971751412429*(power(1.18 - x9,3) + power(1.18 + x9,3)) + x135
=E= 0;
e73.. - 5.64971751412429*(power(1.18 - x10,3) + power(1.18 + x10,3)) + x136
=E= 0;
e74.. - 40*(0.15*sin(x21) - (0.25*sqr(x39 + x40)*sqr(cos(x21)) + 0.25*sqr(x48
+ x49))*x81) - 40*x57 + x89 =E= 0;
e75.. - 40*(0.15*sin(x22) - (0.25*sqr(x40 + x41)*sqr(cos(x22)) + 0.25*sqr(x49
+ x50))*x82) - 40*x58 + x90 =E= 0;
e76.. - 40*(0.15*sin(x23) - (0.25*sqr(x41 + x42)*sqr(cos(x23)) + 0.25*sqr(x50
+ x51))*x83) - 40*x59 + x91 =E= 0;
e77.. - 40*(0.15*sin(x24) - (0.25*sqr(x42 + x43)*sqr(cos(x24)) + 0.25*sqr(x51
+ x52))*x84) - 40*x60 + x92 =E= 0;
e78.. - 40*(0.15*sin(x25) - (0.25*sqr(x43 + x44)*sqr(cos(x25)) + 0.25*sqr(x52
+ x53))*x85) - 40*x61 + x93 =E= 0;
e79.. - 40*(0.15*sin(x26) - (0.25*sqr(x44 + x45)*sqr(cos(x26)) + 0.25*sqr(x53
+ x54))*x86) - 40*x62 + x94 =E= 0;
e80.. - 40*(0.15*sin(x27) - (0.25*sqr(x45 + x46)*sqr(cos(x27)) + 0.25*sqr(x54
+ x55))*x87) - 40*x63 + x95 =E= 0;
e81.. - 40*(0.15*sin(x28) - (0.25*sqr(x46 + x47)*sqr(cos(x28)) + 0.25*sqr(x55
+ x56))*x88) - 40*x64 + x96 =E= 0;
e82.. - (x121*x65 - 0.5*sin(x21)*x113*cos(x21)*(x39 + x40)*(x48 + x49) + 20*
sqr(cos(x21))*x81*(x30 + x31)*(x39 + x40)) + x97 =E= 0;
e83.. - (x122*x66 - 0.5*sin(x22)*x114*cos(x22)*(x40 + x41)*(x49 + x50) + 20*
sqr(cos(x22))*x82*(x31 + x32)*(x40 + x41)) + x98 =E= 0;
e84.. - (x123*x67 - 0.5*sin(x23)*x115*cos(x23)*(x41 + x42)*(x50 + x51) + 20*
sqr(cos(x23))*x83*(x32 + x33)*(x41 + x42)) + x99 =E= 0;
e85.. - (x124*x68 - 0.5*sin(x24)*x116*cos(x24)*(x42 + x43)*(x51 + x52) + 20*
sqr(cos(x24))*x84*(x33 + x34)*(x42 + x43)) + x100 =E= 0;
e86.. - (x125*x69 - 0.5*sin(x25)*x117*cos(x25)*(x43 + x44)*(x52 + x53) + 20*
sqr(cos(x25))*x85*(x34 + x35)*(x43 + x44)) + x101 =E= 0;
e87.. - (x126*x70 - 0.5*sin(x26)*x118*cos(x26)*(x44 + x45)*(x53 + x54) + 20*
sqr(cos(x26))*x86*(x35 + x36)*(x44 + x45)) + x102 =E= 0;
e88.. - (x127*x71 - 0.5*sin(x27)*x119*cos(x27)*(x45 + x46)*(x54 + x55) + 20*
sqr(cos(x27))*x87*(x36 + x37)*(x45 + x46)) + x103 =E= 0;
e89.. - (x128*x72 - 0.5*sin(x28)*x120*cos(x28)*(x46 + x47)*(x55 + x56) + 20*
sqr(cos(x28))*x88*(x37 + x38)*(x46 + x47)) + x104 =E= 0;
e90.. - (x129*x73 + 0.25*sin(x21)*x113*cos(x21)*sqr(x39 + x40) + 20*x81*(x30
+ x31)*(x48 + x49) + 6*cos(x21)*x81) + x105 =E= 0;
e91.. - (x130*x74 + 0.25*sin(x22)*x114*cos(x22)*sqr(x40 + x41) + 20*x82*(x31
+ x32)*(x49 + x50) + 6*cos(x22)*x82) + x106 =E= 0;
e92.. - (x131*x75 + 0.25*sin(x23)*x115*cos(x23)*sqr(x41 + x42) + 20*x83*(x32
+ x33)*(x50 + x51) + 6*cos(x23)*x83) + x107 =E= 0;
e93.. - (x132*x76 + 0.25*sin(x24)*x116*cos(x24)*sqr(x42 + x43) + 20*x84*(x33
+ x34)*(x51 + x52) + 6*cos(x24)*x84) + x108 =E= 0;
e94.. - (x133*x77 + 0.25*sin(x25)*x117*cos(x25)*sqr(x43 + x44) + 20*x85*(x34
+ x35)*(x52 + x53) + 6*cos(x25)*x85) + x109 =E= 0;
e95.. - (x134*x78 + 0.25*sin(x26)*x118*cos(x26)*sqr(x44 + x45) + 20*x86*(x35
+ x36)*(x53 + x54) + 6*cos(x26)*x86) + x110 =E= 0;
e96.. - (x135*x79 + 0.25*sin(x27)*x119*cos(x27)*sqr(x45 + x46) + 20*x87*(x36
+ x37)*(x54 + x55) + 6*cos(x27)*x87) + x111 =E= 0;
e97.. - (x136*x80 + 0.25*sin(x28)*x120*cos(x28)*sqr(x46 + x47) + 20*x88*(x37
+ x38)*(x55 + x56) + 6*cos(x28)*x88) + x112 =E= 0;
e98.. objvar - x2 =E= 0;
* set non default bounds
x2.lo = 1E-7;
x3.fx = 0.472;
x4.lo = -1.18; x4.up = 1.18;
x5.lo = -1.18; x5.up = 1.18;
x6.lo = -1.18; x6.up = 1.18;
x7.lo = -1.18; x7.up = 1.18;
x8.lo = -1.18; x8.up = 1.18;
x9.lo = -1.18; x9.up = 1.18;
x10.lo = -1.18; x10.up = 1.18;
x11.fx = 0.472;
x12.fx = 0;
x13.lo = -3.14159; x13.up = 3.14159;
x14.lo = -3.14159; x14.up = 3.14159;
x15.lo = -3.14159; x15.up = 3.14159;
x16.lo = -3.14159; x16.up = 3.14159;
x17.lo = -3.14159; x17.up = 3.14159;
x18.lo = -3.14159; x18.up = 3.14159;
x19.lo = -3.14159; x19.up = 3.14159;
x20.fx = 2.09439333333333;
x21.fx = 0.7853975;
x22.lo = -1.570795; x22.up = 1.570795;
x23.lo = -1.570795; x23.up = 1.570795;
x24.lo = -1.570795; x24.up = 1.570795;
x25.lo = -1.570795; x25.up = 1.570795;
x26.lo = -1.570795; x26.up = 1.570795;
x27.lo = -1.570795; x27.up = 1.570795;
x28.lo = -1.570795; x28.up = 1.570795;
x29.fx = 0.7853975;
x31.fx = 0;
x38.fx = 0;
x40.fx = 0;
x47.fx = 0;
x49.fx = 0;
x56.fx = 0;
x89.lo = -5; x89.up = 5;
x90.lo = -5; x90.up = 5;
x91.lo = -5; x91.up = 5;
x92.lo = -5; x92.up = 5;
x93.lo = -5; x93.up = 5;
x94.lo = -5; x94.up = 5;
x95.lo = -5; x95.up = 5;
x96.lo = -5; x96.up = 5;
x97.lo = -300; x97.up = 300;
x98.lo = -300; x98.up = 300;
x99.lo = -300; x99.up = 300;
x100.lo = -300; x100.up = 300;
x101.lo = -300; x101.up = 300;
x102.lo = -300; x102.up = 300;
x103.lo = -300; x103.up = 300;
x104.lo = -300; x104.up = 300;
x105.lo = -300; x105.up = 300;
x106.lo = -300; x106.up = 300;
x107.lo = -300; x107.up = 300;
x108.lo = -300; x108.up = 300;
x109.lo = -300; x109.up = 300;
x110.lo = -300; x110.up = 300;
x111.lo = -300; x111.up = 300;
x112.lo = -300; x112.up = 300;
* set non default levels
x2.l = 1000;
x4.l = 0.472;
x5.l = 0.472;
x6.l = 0.472;
x7.l = 0.472;
x8.l = 0.472;
x9.l = 0.472;
x10.l = 0.472;
x13.l = 0.116355185185185;
x14.l = 0.465420740740741;
x15.l = 1.04719666666667;
x16.l = 1.86168296296296;
x17.l = 1.97803814814815;
x18.l = 2.09439333333333;
x19.l = 1.97803814814815;
x22.l = 0.7853975;
x23.l = 0.7853975;
x24.l = 0.7853975;
x25.l = 0.7853975;
x26.l = 0.7853975;
x27.l = 0.7853975;
x28.l = 0.7853975;
x30.l = 0.003776;
x39.l = 0.000930841481481481;
x41.l = 0.00465420740740741;
x42.l = 0.00651589037037037;
x43.l = 0.000930841481481481;
x44.l = 0.000930841481481481;
x45.l = -0.000930841481481481;
x46.l = -0.00279252444444444;
x48.l = 0.00628318;
x64.l = -3.0208E-5;
x66.l = 1.48934637037037E-5;
x67.l = 1.48934637037037E-5;
x68.l = -4.46803911111111E-5;
x70.l = -1.48934637037037E-5;
x71.l = -1.48934637037037E-5;
x72.l = -8.19140503703704E-5;
x80.l = -5.026544E-5;
* 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;
]]></plaintext></body>