Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-10-30
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
Multifingered robots play an important role in manipulation applications.
They can grasp various shaped objects to perform point-to-point movement.
It is important to plan the motion path of the object and appropriately control the grasping forces for multifingered robot manipulation.
In this paper, we perform the optimal grasping control to find both optimal motion path of the object and minimum grasping forces in the manipulation.
The rigid body dynamics of the object and the grasping forces subjected to the second-order cone (SOC) constraints are considered in optimal control problem.
The minimum principle is applied to obtain the system equalities and the SOC complementarity problems.
The SOC complementarity problems are further recast as the equations with the Fischer-Burmeister (FB) function.
Since the FB function is semismooth, the semismooth Newton method with the generalized Jacobian of FB function is used to solve the nonlinear equations.
The 2D and 3D simulations of grasping manipulation are performed to demonstrate the effectiveness of the proposed approach.
American Psychological Association (APA)
Ko, Chun-Hsu& Chen, Jein-Shan. 2013. Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1032077
Modern Language Association (MLA)
Ko, Chun-Hsu& Chen, Jein-Shan. Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method. Mathematical Problems in Engineering No. 2013 (2013), pp.1-9.
https://search.emarefa.net/detail/BIM-1032077
American Medical Association (AMA)
Ko, Chun-Hsu& Chen, Jein-Shan. Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1032077
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032077