Compliance design method using linear programming
Compliance design method using linear programming
复制标题
使用线性规划的一致性设计方法
DOI：
10.1109/robot.1992.220079
复制
发表时间：
1992
期刊：
影响因子：
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通讯作者：
S. Iwaki
中科院分区：
文献类型：
--
作者：
S. Matsuo;S. Iwaki
提出了一种利用线性规划设计柔度矩阵的方法。顺应性被视为从力到校正运动的线性映射，并且是基于几何信息构建的。讨论了一个合适的柔度矩阵所需的四个条件（稳定性、可行性、速度依赖性和误差修正性）。这些条件被公式化为一组线性不等式，柔度矩阵设计问题被简化为一个线性规划问题，与这组不等式作为约束。仿真和一些实验装配任务表明，这种方法的实用性。<<ETX>>
An approach for designing compliance matrices using linear programming is presented. Compliance is treated as a linear mapping from a force to a corrected motion and is constructed on the basis of geometric information. The four conditions required of an appropriate compliance matrix (stability, feasibility, velocity dependency and error correctivity) are discussed. These conditions are formulated as a set of linear inequalities, and the compliance matrix design problem is reduced to a linear programming problem, with this set of inequalities as constraints. The usefulness of this method is shown by simulation and some experimental assembly tasks.<<ETX>>
DOI：
10.1016/0024-3795(81)90106-3
发表时间：
2020-11
期刊：
--
影响因子：
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作者：
Tzuong-Tsieng Moh
通讯作者：
Tzuong-Tsieng Moh