Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method
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,...
Main Authors: | , |
---|---|
Format: | Article |
Language: | English |
Published: |
Hindawi Limited
2013-01-01
|
Series: | Mathematical Problems in Engineering |
Online Access: | http://dx.doi.org/10.1155/2013/681710 |
id |
doaj-770432bdddbd41b08e4833f49f2a3e42 |
---|---|
record_format |
Article |
spelling |
doaj-770432bdddbd41b08e4833f49f2a3e422020-11-24T20:45:53ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472013-01-01201310.1155/2013/681710681710Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton MethodChun-Hsu Ko0Jein-Shan Chen1Department of Electrical Engineering, I-Shou University, Kaohsiung 84001, TaiwanDepartment of Mathematics, National Taiwan Normal University, Taipei 11677, TaiwanMultifingered 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.http://dx.doi.org/10.1155/2013/681710 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Chun-Hsu Ko Jein-Shan Chen |
spellingShingle |
Chun-Hsu Ko Jein-Shan Chen Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method Mathematical Problems in Engineering |
author_facet |
Chun-Hsu Ko Jein-Shan Chen |
author_sort |
Chun-Hsu Ko |
title |
Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method |
title_short |
Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method |
title_full |
Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method |
title_fullStr |
Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method |
title_full_unstemmed |
Optimal Grasping Manipulation for Multifingered Robots Using Semismooth Newton Method |
title_sort |
optimal grasping manipulation for multifingered robots using semismooth newton method |
publisher |
Hindawi Limited |
series |
Mathematical Problems in Engineering |
issn |
1024-123X 1563-5147 |
publishDate |
2013-01-01 |
description |
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. |
url |
http://dx.doi.org/10.1155/2013/681710 |
work_keys_str_mv |
AT chunhsuko optimalgraspingmanipulationformultifingeredrobotsusingsemismoothnewtonmethod AT jeinshanchen optimalgraspingmanipulationformultifingeredrobotsusingsemismoothnewtonmethod |
_version_ |
1716813755237531648 |