• DocumentCode
    1523159
  • Title

    LP problem formulation of extremal path accelerations for a rigid body handled by multiple linkages

  • Author

    Cai, Chunsheng

  • Author_Institution
    UPS Res. & Dev. Center, Danbury, CT, USA
  • Volume
    6
  • Issue
    5
  • fYear
    1990
  • fDate
    10/1/1990 12:00:00 AM
  • Firstpage
    533
  • Lastpage
    539
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/70.62042
  • Filename
    62042
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1523159