DocumentCode :
791471
Title :
Gravitational stability of frictionless assemblies
Author :
Mattikalli, Raju ; Baraff, David ; Khosla, Pradeep ; Repetto, Bruno
Author_Institution :
Eng. Design Res. Center, Carnegie Mellon Univ., Pittsburgh, PA, USA
Volume :
11
Issue :
3
fYear :
1995
fDate :
6/1/1995 12:00:00 AM
Firstpage :
374
Lastpage :
388
Abstract :
The stability of an assemblage of contacting rigid bodies without friction is investigated. A method is presented for finding an orientation of the assembly so that the assembly remains motionless under gravity. If no stable orientation exists for an assembly, the method finds the “least” unstable orientation. The metric used to measure stability is based on the second time-rate of change of the gravitational potential energy, and the desired orientation for an assembly is expressed in terms of an optimization problem involving changes in potential energy. The problem of finding stable or maximally-stable orientations is formulated as a constrained maximin problem. The maximin problem is shown to be a variant of standard zero-sum matrix games, and can be solved using linear programming. The method is the first general method for automatically determining stable orientations. Example assemblies are presented
Keywords :
assembling; game theory; linear programming; minimax techniques; production control; stability; constrained maximin problem; frictionless assemblies; gravitational potential energy; gravitational stability; linear programming; optimization; zero-sum matrix games; Assembly; Design engineering; Energy measurement; Friction; Gravity; Grippers; Linear programming; Potential energy; Robotics and automation; Stability;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.388779
Filename :
388779
Link To Document :
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