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LP problem formulation of extremal path accelerations for a rigid body handled by multiple linkages

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1 Author(s)
Cai, C. ; UPS Res. & Dev. Center, Danbury, CT, USA

The minimum traveling time of a rigid body along a specified geometric path can be achieved by switching between extremal allowable accelerations. A linear programming (LP) problem is formulated to obtain such extreme accelerations for a body handled by multiple robotic manipulators or robotic fingers. Both rigid grasping and grasping with point contacts have been treated

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:6 ,  Issue: 5 )