Title :
LP problem formulation of extremal path accelerations for a rigid body handled by multiple linkages
Author_Institution :
UPS Res. & Dev. Center, Danbury, CT, USA
fDate :
10/1/1990 12:00:00 AM
Abstract :
The minimum traveling time of a rigid body along a specified geometric path can be achieved by switching between extremal allowable accelerations. A linear programming (LP) problem is formulated to obtain such extreme accelerations for a body handled by multiple robotic manipulators or robotic fingers. Both rigid grasping and grasping with point contacts have been treated
Keywords :
linear programming; robots; extremal path accelerations; geometric path; grasping; linear programming; multiple linkages; multiple robotic manipulators; rigid body handling; robotic fingers; Acceleration; Couplings; Equations; Fingers; Linear programming; Manipulator dynamics; Research and development; Robot kinematics; Uncertainty; Uninterruptible power systems;
Journal_Title :
Robotics and Automation, IEEE Transactions on
