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

Fan-Tien Cheng, David E. Orin

研究成果: Conference contribution

26 引文 (Scopus)

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 141989 五月 19

Other

OtherIEEE International Conference on Robotics and Automation - 1989
城市Scottsdale, AZ, USA
期間89-05-1489-05-19

指紋

Linear programming
Program processors
Robotics
Friction
Point contacts
Torque

All Science Journal Classification (ASJC) codes

  • Engineering(all)

引用此文

Cheng, F-T., & Orin, D. E. (1989). Efficient algorithm for optimal force distribution in multiple-chain robotic systems - the compact-dual LP method. 於 Anon (編輯), IEEE Int Conf Rob Autom 1989 (頁 943-950). Publ by IEEE.
Cheng, Fan-Tien ; Orin, David E. / Efficient algorithm for optimal force distribution in multiple-chain robotic systems - the compact-dual LP method. IEEE Int Conf Rob Autom 1989. 編輯 / Anon. Publ by IEEE, 1989. 頁 943-950
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Cheng, F-T & Orin, DE 1989, Efficient algorithm for optimal force distribution in multiple-chain robotic systems - the compact-dual LP method. 於 Anon (編輯), 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.

IEEE Int Conf Rob Autom 1989. 編輯 / Anon. Publ by IEEE, 1989. p. 943-950.

研究成果: Conference contribution

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PY - 1989

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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.

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Cheng F-T, Orin DE. Efficient algorithm for optimal force distribution in multiple-chain robotic systems - the compact-dual LP method. 於 Anon, 編輯, IEEE Int Conf Rob Autom 1989. Publ by IEEE. 1989. p. 943-950