### 摘要

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.

原文 | English |
---|---|

主出版物標題 | IEEE Int Conf Rob Autom 1989 |

編輯 | Anon |

發行者 | Publ by IEEE |

頁面 | 943-950 |

頁數 | 8 |

出版狀態 | Published - 1989 |

事件 | IEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA 持續時間: 1989 五月 14 → 1989 五月 19 |

### Other

Other | IEEE International Conference on Robotics and Automation - 1989 |
---|---|

城市 | Scottsdale, AZ, USA |

期間 | 89-05-14 → 89-05-19 |

### 指紋

### All Science Journal Classification (ASJC) codes

- Engineering(all)

### 引用此文

*IEEE Int Conf Rob Autom 1989*(頁 943-950). Publ by IEEE.

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*IEEE Int Conf Rob Autom 1989.*Publ by IEEE, 頁 943-950, IEEE International Conference on Robotics and Automation - 1989, Scottsdale, AZ, USA, 89-05-14.

**Efficient algorithm for optimal force distribution in multiple-chain robotic systems - the compact-dual LP method.** / Cheng, Fan-Tien; Orin, David E.

研究成果: Conference contribution

TY - GEN

T1 - Efficient algorithm for optimal force distribution in multiple-chain robotic systems - the compact-dual LP method

AU - Cheng, Fan-Tien

AU - Orin, David E.

PY - 1989

Y1 - 1989

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=0024864255&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0024864255&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0024864255

SP - 943

EP - 950

BT - IEEE Int Conf Rob Autom 1989

A2 - Anon, null

PB - Publ by IEEE

ER -