An inexact multiblock alternating direction method for grasping-force optimization of multifingered robotic hands

Journal of Inequalities and Applications

Research

Yaling Zhang¹  Xuewen Mu² 

[1] School of Computer Science, Xi’an University of Science and Technology, 710054, Xi’an, China;School of Mathematics and Statistics, Xidian University, 710071, Xi’an, China;

关键词: Circular-cone programming;    Second-order cone programming;    Alternating direction method;    SeDuMi software;   

DOI  :  10.1186/s13660-023-02938-w

 received in 2022-03-22, accepted in 2023-02-02,  发布年份 2023

来源: Springer

【 摘 要 】

In this paper, we present an inexact multiblock alternating direction method for the point-contact friction model of the force-optimization problem (FOP). The friction-cone constraints of the FOP are reformulated as the Cartesian product of circular cones. We focus on the convex quadratic circular-cone programming model of the FOP, which is an exact cone-programming model. Coupled with the separable convex quadratic objective function, we recast the circular-cone-programming model as a multiblock separable cone model. A parallel inexact multiblock alternating direction method is used to solve the FOP. We prove the global convergence of the proposed method. Simulation results of the three-fingered FOP are reported, which verified the efficiency of the proposed method.

【 授权许可】

CC BY   
© The Author(s) 2023

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