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A general Approach for Optimal Kinematic Design of Parallel Manipulators

A General Approach for Optimal Kinematic Design of Parallel ...

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2003年中国智能自动化会议

作者： y.j. lou, g.f. liu and z.x. li dept. of electrical and electronic engineering hong kong university of science and technology clear water bay, kowloon, hong kong

This paper deals with the problem of optimal geometry design of parallel manipulators. In order to reduce the main drawbacks of parallel manipulators, relatively small workspace and more singularities,two constraints, workspace and condition number, are considered. The design problem is thus formulated as to And a parallel mechanism such that its Cartesian workspace contains a prescribed workspace with good condition numbers in it. By observing that those requirements can be locally cast into linear Matrix Inequalities (LMIs), we formulate the design problem locally as a convex optimization problem subject to LMIs with either a linear function or a max-det function as its objective function. At each point of discretized space of design parameters, there is an LMI-based convex optimization problem. A two-level algorithm can be applied to solve for a set of optimal kinematic parameters;(1) Discretize the space of design parameters into a set of discrete nodes;(2) At each node the Newton algorithm is applied to solve the LMI-based optimization problem. By comparing all the locally optimal costs,we can obtain a set of globally optimal design parameters correspondingly. Simulation results verify the effectiveness of the proposed algorithms.

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A Comparative Study of geometric Algorithms for Real-Time grasping.f.rce Optimization

A Comparative Study of Geometric Algorithms for Real-Time Gr...

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第二十二届中国控制会议

作者： liu g.f. xu j.j. li z.x. dept. of electrical and electronic engineering hong kong university of science and technology clear water bay, kowloon, hong kong

＜正＞Real-time grasping.f.rce optimization problem can be naturally formulated as a convex optimization problem on the Riemannian manifold of positive definite matrices subject to linear constraints for which many algorithms, including gradient algorithms, Newton algorithms, and interior point algorithms, have been developed. In all these algorithms we need to specify a step size in every iteration and a valid initial point to start the recursion. In this paper we propose several strategies for selecting such a step size according to the properties of each algorithm. Simulation and experimental results show the different performances of these algorithms from computation time and convergence rates.

关键词： Real-time grasping.f.rce optimization geometric algorithm Step size Convergence rates

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A Study on Quality functions for grasp Synthesis and fixture Planning

A Study on Quality Functions for Grasp Synthesis and Fixture...

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2003年中国智能自动化会议

作者： j.j.xu, g.f. liu, x.Wang, z.x. li dept. of electrical and electronic engineering hong kong university of science and technology clear water bay,kowloon, hong kong

Planning a proper set of contact points on a given object /workpiece so as to satisfy a certain optimality criterion is a common problem in grasp synthesis for multifingered robotic hands and in fixture planning.f.r manufacturing automation. In this paper, we formulate the grasp planning problem as optimization problems with respect to two grasp quality functions. for real-time computation, a simplified M in-analytic-center problem is proposed. Simulation and experimental results illustrate the validity of the proposed approach for optimal grasp planning.

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