Accession Number : ADA266990


Title :   Finding Stable Orientations of Assemblies with Linear Programming


Descriptive Note : Technical rept.,


Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST


Personal Author(s) : Baraff, David ; Mattikalli, Raju ; Repetto, Bruno ; Khosla, Pradeep


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a266990.pdf


Report Date : Jun 1993


Pagination or Media Count : 21


Abstract : In the paper by Mattikalli et al.(5), the stability of an assemblage of frictionless contacting bodies with uniform gravity was considered. The problem of finding a stable orientation for such an assembly was formulated as a constrained maximum problem. A solution to the maximum problem yielded an orientation of the assembly that was stable under gravity; however, if no such orientation existed, then the solution to the maximum problem yielded the most stable orientation possible for the assembly. The maximum problem was solved using a numerical iteration procedure that solved a linear program for each step of the iteration. In this paper, we show that the stability problem can be considered a variant of standard zero-sum matrix games. A solution to the maximum problem can be found by solving a single linear program.


Descriptors :   *STABILITY , *LINEAR PROGRAMMING , ROBOTICS , PROBLEM SOLVING , STANDARDS , GRAVITY , ASSEMBLY , ITERATIONS , MATRIX GAMES


Subject Categories : Operations Research


Distribution Statement : APPROVED FOR PUBLIC RELEASE