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
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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
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 -