This is an implementation of the proposed Generalized Structured Diagonal Algorithm based on diagonal Hessian approximation to solve a 3DOF(degrees of freedom) planar robot arm, manipulator.
GSDA.m contains the implementation of the 3-DOF robotic model.
GSDAfor3DOF.m is where the above GSDA.m is called, and simulations are carried out.
If you find this implementation valuable to your work, kindly consider citing the following works:
M. M. Yahaya, P. Kumam, A. M. Awwal, P. Chaipunya, S. Aji and S. Salisu, "A new generalized quasi-Newton algorithm based on structured diagonal Hessian approximation for solving nonlinear least-squares problems with application to 3DOF planar robot arm manipulator," in IEEE Access, doi: 10.1109/ACCESS.2022.3144875.
"A structured quasi–Newton algorithm with nonmonotone search strategy for structured NLS problems and its application in robotic motion control" https://doi.org/10.1016/j.cam.2021.113582