Efficient algorithm for optimal force distribution in multiple-chain robotic systems - the compact-dual LP method

Fan-Tien Cheng, David E. Orin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Citations (Scopus)

Abstract

The authors present a general and efficient algorithm, the compact-dual LP (linear programming) method, to solve the force distribution problem for multiple-chain robotic systems. In this method, the general solution of the linear equality constraints is obtained by transforming the underspecified matrix into row-reduced echelon form; then the linear equality constraints of the force distribution problem are eliminated. The duality theory of linear programming is also applied. The resulting method is applicable to a wide range of systems, constraints (friction constraints, joint torque constraints, etc.), and objective functions and yet is computationally efficient. The significance of this method is demonstrated by solving the force distribution problem for a grasping system. With two-finger grasping and object and hard point contact with friction considered, the CPU (central processing unit) time on a VAX-11/785 computer is only 1.47 ms. If four fingers are considered, then the CPU time is less than 45 ms, which should be suitable for real-time application.

Original languageEnglish
Title of host publicationIEEE Int Conf Rob Autom 1989
Editors Anon
PublisherPubl by IEEE
Pages943-950
Number of pages8
Publication statusPublished - 1989
EventIEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA
Duration: 1989 May 141989 May 19

Other

OtherIEEE International Conference on Robotics and Automation - 1989
CityScottsdale, AZ, USA
Period89-05-1489-05-19

All Science Journal Classification (ASJC) codes

  • Engineering(all)

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    Cheng, F-T., & Orin, D. E. (1989). Efficient algorithm for optimal force distribution in multiple-chain robotic systems - the compact-dual LP method. In Anon (Ed.), IEEE Int Conf Rob Autom 1989 (pp. 943-950). Publ by IEEE.