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 article同行評審

30 引文 斯高帕斯(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
頁(從 - 到)943-950
頁數8
期刊Proceedings - IEEE International Conference on Robotics and Automation
出版狀態Published - 1989
事件1989 IEEE International Conference on Robotics and Automation, ICRA 1989 - Scottsdale, AZ, USA
持續時間: 1989 5月 141989 5月 19

All Science Journal Classification (ASJC) codes

  • 軟體
  • 控制與系統工程
  • 人工智慧
  • 電氣與電子工程

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