Calculation of Robot Multi-Fingered Grasping Force and Displacement Based on the Newton-Subgradient Non-Smooth Greedy Randomized Kaczmarz Method for Solving Linear Complementarity Problem.

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Article in Sensors (Basel, Switzerland), 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

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2 authors.

Zhiwei AiSchool of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, China.ORCID 0000-0001-9168-8223

Chenliang LiSchool of Mathematics and Computing Science, Guilin University of Electronic Technology, Guilin 541004, China.ORCID 0000-0001-8166-0243

Funding

National Natural Science Foundation of China 12161027Science and Technology Project of Guangxi, China GuikeAD23023002

6 · The paper itself

Abstract

The calculation of grasping force and displacement is important for multi-fingered stable grasping and research on slipping damage. By linearizing the friction cone, the robot multi-fingered grasping problem can be represented as a linear complementarity problem (LCP) with a saddle-point coefficient matrix. Because the solution methods for LCP proposed in the field of numerical computation cannot be applied to this problem and the Pivot method can only be used for solving specific grasping problems, the LCP is converted into a non-smooth system of equations for solving it. By combining the Newton method with the subgradient and Kaczmarz methods, a Newton-subgradient non-smooth greedy randomized Kaczmarz (NSNGRK) method is proposed to solve this non-smooth system of equations. The convergence of the proposed method is established. Our numerical experiments indicate its feasibility and effectiveness in solving the grasping force and displacement problems of multi-fingered grasping.

Indexed as

Kaczmarz methodlinear complementarity problemmulti-fingered grasping problemnon-smooth system of equationssubgradient

Identifiers

PMID40218823

DOI10.3390/s25072309

PMCPMC11991365

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