A study on geometric algorithms for real-time grasping force optimization

In this paper we propose several strategies for selecting such a step size according to the properties of each algorithm and a method for searching a valid initial point. By investigating the structure of the affine-scaling vector fields associated with the optimization problem, we give a detailed convergence analysis of these algorithms. Simulation and experimental results show the different performance of these algorithms from computation time and convergence rates.

Authors

• Jijie Xu
• Guanfeng Liu 0002
• Xin Wang
• Zexiang Li 0001

Keywords

• Friction
• Fingers
• Constraint optimization
• Grasping
• Convergence
• Sparse matrices
• Water
• Electronic mail
• Algorithm design and analysis
• Linear matrix inequalities
• Grasp Force
• Computation Time
• Step Size
• Convergence Rate
• Vector Field
• Simulation Results
• Optimization Problem
• Cost Function
• Second Derivative
• Friction Coefficient
• Symmetric Matrix
• Convex Optimization Problem
• Interior Point
• Linear Constraints
• Space Of Matrices
• Line Search
• Soft Contact
• Interior-point Algorithm
• Newton Algorithm
• Central Path