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Título:
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Grasping force optimization using dual methods
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Autor/a:
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Cornellà Medrano, Jordi; Suárez Feijóo, Raúl
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Abstract:
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One of the basic requirements in grasping and manipulation of objects is the
determination of a suitable set of grasping forces such that the external forces and
torques applied on the object are balanced and the object remains in equilibrium.
This report presents a new mathematical approach to efficiently obtain the optimal
solution of this problem using the dual theorem of non-linear programming. The
problem is modeled such that the basic convexity property necessary to apply the
dual theorem is satisfied and, then, it is transformed into another one much easier
to be solved. Three examples showing the efficiency and accuracy of the proposed
methodology are included in the report. |
Materia(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica -Robòtica--Informes tècnics |
Derechos:
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Attribution-NonCommercial-NoDerivs 2.5 Spain
http://creativecommons.org/licenses/by-nc-nd/2.5/es/ |
Tipo de documento:
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Informe |
Editor:
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Institut d'Organització i Control de Sistemes Industrials
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