Method for fast computation of optimal contact forces
US7650263B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 26, 2006 |
| Grant date | Jan 19, 2010 |
| Priority date | — |
| Expiry date | Sep 3, 2027 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06F2111/10
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for rapidly determining feasibility of a force optimization problem and for rapidly solving a feasible force optimization problem is disclosed. The method comprises formulating the force optimization problem or force feasibility problem as a convex optimization problem, formulating a primal barrier subproblem associated with the convex optimization problem, and solving the primal barrier subproblem. The method and related methods may also be used to solve each problem in a set of force optimization problems, determine the minimum or maximum force required to satisfy any of a set of force optimization problems, solve a force closure problem, compute a conservative contact force vector, or solve a feasible force optimization problem with bidirectional forces.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.