Title :
A study on geometric algorithms for real-time grasping force optimization
Author :
Xu, J.J. ; Liu, G.F. ; Wang, X. ; Li, Z.X.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ. of Sci. & Technol., China
Abstract :
In this paper we propose several strategies for selecting such a step size according to the properties of each algorithm and a method for searching a valid initial point. By investigating the structure of the affine-scaling vector fields associated with the optimization problem, we give a detailed convergence analysis of these algorithms. Simulation and experimental results show the different performance of these algorithms from computation time and convergence rates.
Keywords :
algorithm theory; convergence; dexterous manipulators; force control; manipulator kinematics; optimisation; real-time systems; affine scaling vector fields; computation time; convergence analysis; convergence rates; geometric algorithms; optimisation; real-time grasping force; valid initial point; Algorithm design and analysis; Constraint optimization; Convergence; Electronic mail; Fingers; Friction; Grasping; Linear matrix inequalities; Sparse matrices; Water;
Conference_Titel :
Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7860-1
DOI :
10.1109/IROS.2003.1249688
