Grasping torque optimization for a dexterous robotic hand using the linearization of constraints (Q2298533): Difference between revisions

From MaRDI portal
Set OpenAlex properties.
ReferenceBot (talk | contribs)
Changed an Item
 
Property / cites work
 
Property / cites work: Limiting and minimizing the contact forces in multifingered grasping / rank
 
Normal rank
Property / cites work
 
Property / cites work: A polynomial-time interior-point method for circular cone programming based on kernel functions / rank
 
Normal rank
Property / cites work
 
Property / cites work: Primal-dual interior-point algorithms for convex quadratic circular cone optimization / rank
 
Normal rank
Property / cites work
 
Property / cites work: A primal-dual interior-point method for optimal grasping manipulation of multi-fingered hand-arm robots / rank
 
Normal rank
Property / cites work
 
Property / cites work: Theoretical and experimental study of dynamic load‐carrying capacity for flexible robotic arms in point‐to‐point motion / rank
 
Normal rank
Property / cites work
 
Property / cites work: Neural networks for solving second-order cone constrained variational inequality problem / rank
 
Normal rank
Property / cites work
 
Property / cites work: A smoothed NR neural network for solving nonlinear convex programs with second-order cone constraints / rank
 
Normal rank
Property / cites work
 
Property / cites work: Contact Mechanics / rank
 
Normal rank
Property / cites work
 
Property / cites work: Q4229077 / rank
 
Normal rank

Latest revision as of 20:14, 21 July 2024

scientific article
Language Label Description Also known as
English
Grasping torque optimization for a dexterous robotic hand using the linearization of constraints
scientific article

    Statements

    Grasping torque optimization for a dexterous robotic hand using the linearization of constraints (English)
    0 references
    0 references
    20 February 2020
    0 references
    Summary: A new algorithm is proposed for the optimization of grasping torques. Previous work revealed that the optimization of the contact force can be simplified as a linear programming problem by replacing the nonlinear friction cone with a polyhedral cone. On this basis, further simplification and linearization is completed for various grasp contact constraints of the grasping system, and an optimization model is established with the minimum sum-of-squares of joint torques as an objective function. A timely and effective algorithm based on key constraint sets is then established. This methodology optimizes the joint torque directly and facilitates the control of the dexterous hand. A numerical example and experimental results show that the optimization algorithm has high precision and good real-time performance. The joint torque output obtained using the proposed algorithm was 27.6\% lower than the result of the previous algorithm. The optimization algorithm can thus be used for optimal grasping control of a dexterous hand.
    0 references

    Identifiers

    0 references
    0 references
    0 references
    0 references
    0 references
    0 references
    0 references